Package edu.tufts.hrilab.ava

Interface AvaInterface

All Superinterfaces:
LidarInterface, MoveBaseInterface
All Known Implementing Classes:
AvaComponent, FakeMockAvaComponent, MockAvaComponent
public interface AvaInterface extends MoveBaseInterface, LidarInterface

  • Method Details

    • displayRobot

      void displayRobot(ai.thinkingrobots.trade.TRADEServiceInfo displayService)

    • goToDock

      Justification goToDock()

    • goHomePrimitive

      Justification goHomePrimitive()
      Send the robot dock location and then dock it.
      Returns:
      success or error

    • stopFollowing

      Justification stopFollowing()

    • avaFollow

      Justification avaFollow()

    • moveForward

      Justification moveForward(double distance)
      Drive straight forward along the robot's current heading using direct velocity commands until odometry shows the requested distance has been covered.
      Parameters:
      distance - meters to travel forward

    • endSession

      Justification endSession()
      Close an RMS session with the robot.
      Returns:
      Justification true if successful

    • getBatteryLevel

      double getBatteryLevel()
      Get the battery level of the Ava robot in percentage.
      Returns:
      double 0-100

    • getRuntime

      double getRuntime()
      Get the estimated remaining runtime of the robot in seconds.
      Returns:
      runtime seconds

    • getZLift

      double getZLift()
      Get the current Z lift position of the robot.
      Returns:
      double percentage of lift 0-100

    • setZLift

      Justification setZLift(double lift)
      Set the Z lift of the robot.
      Parameters:
      lift - percentage to set z lift to 0-100

    • getCameraTilt

      double getCameraTilt()
      Get the current camera tilt position of the robot.
      Returns:
      double percentage of tilt 0-100

    • setCameraTilt

      Justification setCameraTilt(double tilt)
      Set the Z lift of the robot.
      Parameters:
      tilt - percentage to set z lift to 0-100

    • getDynamicObstacles

      List<Obstacle> getDynamicObstacles()
      Get a list of dynamic obstacles that the robot detects.
      Returns:
      Object containing obstacles list

    • isDocked

      boolean isDocked()
      Return true if robot is docked
      Returns:
      boolean

    • lookAtObstacle

      Justification lookAtObstacle(Obstacle obs)

    • lookAt

      Justification lookAt(double x, double y, double duration)
      Look at a vector.
      Parameters:
      x - position x
      y - position y
      duration - length of look at event

    • parseTime

      Symbol parseTime(Symbol input, Symbol amOrPm)

    • getWifiSignalStrength

      Integer getWifiSignalStrength()

    • measureWifiRssi

      Integer measureWifiRssi()

    • rssiQualityLabel

      String rssiQualityLabel(Symbol rssi)

    • measureTemperatureDegrees

      Integer measureTemperatureDegrees()

    • locationRefToName

      String locationRefToName(Symbol ref)

    • blockToCharge

      void blockToCharge()

    • interruptChargingBlock

      void interruptChargingBlock()

    • listenForWWandASR

      void listenForWWandASR()

    • interruptListenForWWandASR

      void interruptListenForWWandASR()

    • getDockRefId

      Symbol getDockRefId()

    • waitForReadyAck

      void waitForReadyAck()

    • interruptWaitForReadyAck

      void interruptWaitForReadyAck()

    • waitForDuration

      void waitForDuration(long seconds)

    • interruptWaitForDuration

      void interruptWaitForDuration()

    • enableAdminMode

      void enableAdminMode()

    • disableAdminMode

      void disableAdminMode()