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package com.hackingroomba.roombacomm;
public class RobotType {
// encoder constants
private final double ROOMBA_COUNTS_PER_INCH = 57;
private final double MOBOT_COUNTS_PER_INCH = 250/80; // 205 counts in 80 inches
private final double TANKBOT_COUNTS_PER_INCH = 1800;
public double countsPerInch = ROOMBA_COUNTS_PER_INCH;
// spin tolerance constants
private final int ROOMBA_TOLERANCE = 2;
private final int MOBOT_TOLERANCE = 7;
private final int DEFAULT_TOLERANCE = 10;
public int tolerance = DEFAULT_TOLERANCE;
private final int FAST_ROOMBA_SPINSPEED = 100;
private final int SLOW_ROOMBA_SPINSPEED = 20;
private final int FAST_MOBOT_SPINSPEED = 120;
private final int SLOW_MOBOT_SPINSPEED = 80;
public int fastSpinSpeed;
public int slowSpinSpeed;
// PID constants
double ROOMBA_KP = 2.0;
double ROOMBA_KI = 1.0;
double ROOMBA_KD = 0.0;
double MOBOT_KP = 0.1;
double MOBOT_KI = 0.05;
double MOBOT_KD = 0.1;
double KP;
double KI;
double KD;
// robot types
public enum robotTypes {roomba, frankenRoomba, tankbot, mobot};
robotTypes robotType;
RobotType (robotTypes rt)
{
robotType = rt;
if ((rt == robotTypes.roomba) || (rt == robotTypes.frankenRoomba)) {
countsPerInch = ROOMBA_COUNTS_PER_INCH;
tolerance = ROOMBA_TOLERANCE; // tolerance of angle for spinToHeading
KP = ROOMBA_KP; // roomba PID constants
KI = ROOMBA_KI;
KD = ROOMBA_KD;
fastSpinSpeed = FAST_ROOMBA_SPINSPEED;
slowSpinSpeed = SLOW_ROOMBA_SPINSPEED;
} else if (rt == robotTypes.tankbot) {
countsPerInch = TANKBOT_COUNTS_PER_INCH;
tolerance = DEFAULT_TOLERANCE; // tolerance of angle for spinToHeading
KP = ROOMBA_KP; // tankbot PID constants
KI = ROOMBA_KI;
KD = ROOMBA_KD;
fastSpinSpeed = FAST_ROOMBA_SPINSPEED;
slowSpinSpeed = SLOW_ROOMBA_SPINSPEED;
} else if (rt == robotTypes.mobot) {
countsPerInch = MOBOT_COUNTS_PER_INCH;
tolerance = MOBOT_TOLERANCE; // tolerance of angle for spinToHeading
KP = MOBOT_KP; // Mo'bot PID constants
KI = MOBOT_KI;
KD = MOBOT_KD;
fastSpinSpeed = FAST_MOBOT_SPINSPEED;
slowSpinSpeed = SLOW_MOBOT_SPINSPEED;
}
}
public robotTypes getRobotType() {
return robotType;
}
public void setRobotType(robotTypes robotType) {
this.robotType = robotType;
}
}
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