public void checkIfSharpCorner() {
leftMotor.stop();
rightMotor.stop();
isSharpCorner = false;
int performedRotation = 0;
DifferentialPilot pilot = new DifferentialPilot(2, 10, leftMotor, rightMotor);
if (getRealTimeValue() >= 0.1) {
pilot.rotate(-4);
isSharpCorner = true;
tellLineBehaviorIsSharpCorner();
} else {
for (int i = 0; i <= 40; i++) {
pilot.rotate(1);
performedRotation += 1;
if (getRealTimeValue() >= 0.1) {
isSharpCorner = true;
tellLineBehaviorIsSharpCorner();
break;
}
if (Button.readButtons() != 0) {
this.interrupt();
}
}
}
if (!isSharpCorner) {
align(pilot, performedRotation);
line.setIsNoSharpCorner();
}
}
public float getRealTimeValue() {
// int samplesize = filter.sampleSize();
// float[] samples = new float[samplesize];
// System.out.println("Value:"+counter.getRealTimeValue());
// Button.waitForAnyPress();
// System.out.flush();
return line.getRealTimeValue();
// return samples[0];
}
private void tellLineBehaviorIsSharpCorner() {
line.isSharpCorner();
}
