/*
* This method makes the robot turn 90 deg to the given direction
*/
public void turnNXT(Direction direction) {
if (direction == Direction.RIGHT) {
Motor.A.rotate(237);
} else if (direction == Direction.LEFT) {
Motor.B.rotate(237);
}
}
/**
* 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);
}
private void randomTurn() {
int rnd = (int) Math.round(Math.random() * (double) 4);
Motor.A.rotate(turnValue[rnd]);
}