hawesie / rp-pc

Desktop code for the Robot Programming module in the School of Computer Science, University of Birmingham, UK.

Robot Programming Mobile Robot Classes

Some classes useful for robot sensing, simulation, testing map abstraction and localisation in leJOS.

This project requires Java 8. This is probably only an issue for OS X where you'll need to use Java 6 for the rp-* projects which send code to the robot.

Eclipse

Getting the code

To use this code in your project you first need to clone the project into your Eclipse workspace. The following assumes you use the directory ~/workspace as your Eclipse workspace as it is the default value. If this is not true, then replace this directory with the correct one for you.

1. Open a terminal
2. Change into your workspace directory: cd ~/workspace
3. Clone this project using Git: git clone https://github.com/hawesie/rp-pc
4. In Eclipse, create a new leJOS PC project with the name rp-pc. This should automatically find the sources you just cloned. You could also create a standard Java project for this code.

If this project does not compile because it is missing any lejos.* packages this means that the leJOS PC jar was not added correctly. This happens to me, so it might happen to you too. This will also happen if you just created a standard Java project. To add the leJOS PC jar go to Project Properties, select Java Build Path, and click on the Libraries tab. From here click Add Library... select LeJOS Library Container then select platform PC Libraries and hit Finish.

Dependencies

For the tests to compile, you must add JUnit support to your project. Go to Project Properties, select Java Build Path, and click on the Libraries tab. From here click Add Library... select JUnit 4.

Using the code

You should develop your own code in a separate project to rp-pc as this will allow you to easily update the provided code if necessary. To do this, use the Java Build Path entry in your other project's properties, and Add... the rp-pc project under the Projects tab.

The interfaces are only provided as a guideline. If you want to ignore them, or change them (for the better), please feel free to do so. If you wish to change them, you can fork this repository to create your own copy.

The following classes demonstrate the uses of the code from this repository:

• rp.robotics.visualisation.DifferentialDriveSim shows the simple simulation in action.

Command Line

If you just want to use the code in compilation (e.g. from the command line) without Eclipse, you can download jar and use it in your classpath: https://raw.githubusercontent.com/hawesie/rp-pc/master/export/rp-pc.jar

Fixing bugs

If you find any bugs in my code, please open an issue or create a pull request with the fix.

rp-pc's Issues

Error with GridMapVisualisation.java

The last set of for loops have the Y values looping until getX() when it should be to getY()

Add connections to grid map visualisation

Get y axis correct on visualisation.

Error in line map for 2015 Map 1

The visualization currently looks exactly like the world map but it is supposed to be mirrored. Moving the line blocking the middle will fix this error.

Error with createPentagonTest() and getPentagonTestSequence()

It seems that these test functions are missing from Ex1Tests.java