private void avoidWalls() {
currentStateController.stop();
final AvoidWallStateController avoidWallController = new AvoidWallStateController(robotModel);
currentStateController = avoidWallController;
Thread avoidWallThread =
new Thread(
new Runnable() {
public void run() {
avoidWallController.controlState();
}
});
avoidWallThread.start();
}
private void collectGroundBalls() {
currentStateController.stop();
final BallCollectionStateController ballCollectionController =
new BallCollectionStateController(robotModel, camera);
currentStateController = ballCollectionController;
Thread ballCollectionThread =
new Thread(
new Runnable() {
public void run() {
while (!ballCollectionController.isDone()) {
ballCollectionController.controlState();
}
}
});
ballCollectionThread.start();
}