/**
* Stops the robot when the ultrasonic sensor detects a certain distance.
*
* @param stopDistance as long as the current distance is less than this stop distance, the robot
* will keep moving. Once the current distance is larger than the stop distance, the function
* returns.
* @return the current distance upon stopping.
*/
private boolean stopBeforeEdge() {
int currentDistance = 0;
int lightLevelReading;
int distanceToObject;
boolean edgeIsSafe = false;
do {
lightLevelReading = lightSensorDown.readValue();
Motor.A.rotate(centerToEdgeDistance, true);
Motor.C.rotate(centerToEdgeDistance, true);
} while ((lightLevelReading > BLACK_WHITE_THRESHOLD)
&& (Motor.A.isMoving() && Motor.C.isMoving()));
pilot.stop();
lightLevelReading = lightSensorDown.readValue();
/*
distanceToObject = ultrasonicSensor.getDistance();
if(distanceToObject < 20)
{
edgeIsSafe = true;
Motor.A.setSpeed(1000);
Motor.C.setSpeed(1000);
pilot.setRotateSpeed(1000);
pilot.travel(280);
Delay.msDelay(10000);
return(edgeIsSafe);
}
if(lightLevelReading < BLACK_WHITE_THRESHOLD)
{
System.out.println("Unsafe edge");
edgeIsSafe = false;
return(edgeIsSafe);
}
else if (lightLevelReading > BLACK_WHITE_THRESHOLD)
{
System.out.println("Safe edge");
edgeIsSafe = true;
safeEdgeCount++;
return(edgeIsSafe);
}
*/
return (edgeIsSafe);
}
/** Run. */
public void run() {
Motor.A.setSpeed(90);
Motor.C.setSpeed(90);
while (true) {
moveForward();
waitForReading();
Motor.A.backward();
Motor.C.backward();
Delay.msDelay(1000);
rotation(TURN_90_DEGREES, TURN_LEFT);
}
}
/**
* Main Entry Point. Creates the behaviors and starts the Arbitrator.
*
* @param args
*/
public static void main(String[] args) {
// Wall sensing behavior
Behavior b1 = new WallBehavior(SensorPort.S3);
// Move forward behavior
Behavior b2 = new ForwardBehavior();
// Left Light sensor sensing behavior
Behavior b3 = new LeftLightBehavior(SensorPort.S2, SensorPort.S1);
// Right Light sensor sensing behavior
Behavior b4 = new RightLightBehavior(SensorPort.S2, SensorPort.S1);
// Both Light sensors sensing behavior
Behavior b5 = new BothLightsBehavior(SensorPort.S2, SensorPort.S1);
// Win Behavior
Behavior b6 = new WinBehavior(SensorPort.S2, SensorPort.S1);
// Put the behaviors into the array based on priority
Behavior[] behaviorArray = {b2, b1, b3, b4, b5, b6};
// Create the arbitrator
Arbitrator arby = new Arbitrator(behaviorArray);
// Set the motor speeds
Motor.A.setSpeed(800);
Motor.C.setSpeed(800);
// Start
arby.start();
}
private int waitForReading() {
int lightLevelReading;
int distanceToObject;
do {
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
}
lightLevelReading = lightSensorDown.readValue();
} while (lightLevelReading > BLACK_WHITE_THRESHOLD);
distanceToObject = ultrasonicSensor.getDistance();
if (distanceToObject < 20) {
Motor.A.setSpeed(1000);
Motor.C.setSpeed(1000);
pilot.travel(300);
Delay.msDelay(10000);
}
return (lightLevelReading);
}
private void moveForward() {
Motor.A.forward();
Motor.C.forward();
}
