/* * SimpleN150.java */package EDU.gatech.cc.is.abstractrobot;import EDU.gatech.cc.is.util.Vec2;/** * Provides an abstract interface to the hardware of * a basic Nomadic Technologies Nomad 150 robot (no vision, gripper * or communication). * In addition to the capabilities provided by a Simple robot, * we also get a rotating turret. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public interface SimpleN150 extends SimpleInterface	{	public final double MAX_TRANSLATION = 0.508;	public final double MAX_STEER = 0.7854;	public final double RADIUS = 0.247;	/**	 * Max rate of turn of the turret in radians/sec.	 */	public final double MAX_TURRET = 0.7854;	/**	 * How far sonar ring is from center of robot.	 */	public final double SONAR_RADIUS = 0.23;		/**	 * Get the current heading of the turret motor.	 * @param timestamp only get new information 	 *        if timestamp > than last call or timestamp == -1.	 * @return the turret heading in radians.	 * @see SimpleN150#setTurretHeading	 * @see SimpleN150#resetTurretHeading	 */	public abstract double getTurretHeading(long timestamp);		/**	 * Reset the turret odometry of the robot in global coordinates.	 * This might be done when reliable sensor information provides	 * a very good estimate of the robot's turret heading.	 * Do this only if you are certain you're right!	 * @param heading the new turret heading in radians.	 * @see SimpleN150#getTurretHeading	 * @see SimpleN150#setTurretHeading	 */	public abstract void resetTurretHeading(double heading);		/**	 * Set the desired heading for the turret motor.	 * @param timestamp only get new information 	 *        if timestamp > than last call or timestamp == -1.	 * @param heading the heading in radians.	 * @see SimpleN150#getTurretHeading	 * @see SimpleN150#resetTurretHeading	 */	public abstract void setTurretHeading(long timestamp, double heading);	}