Ejemplo n.º 1
0
  public static void main(String[] args) {
    LCDWriter lcd = LCDWriter.getInstance();
    lcd.start();

    UltrasonicPoller up = UltrasonicPoller.getInstance();
    PathTraveller traveller = PathTraveller.getInstance();

    Odometer odo = Odometer.getInstance();
    Driver dr = Driver.getInstance();

    up.start();
    odo.start();

    traveller.recalculatePathToCoords(135, 105);
    //		traveller.popNextWaypoint();
    //		lcd.writeToScreen(str, lineNumber);
    //		while(!traveller.followThePath()){
    //			traveller.recalculatePathToCoords(75, 75);
    //		}
    boolean done = false;
    while (!done) {
      done = followPath();
      try {
        if (!done) traveller.recalculatePathToCoords(135, 105);
        else break;
      } catch (Exception e) {
        lcd.writeToScreen("E: " + e.toString(), 1);
      }
    }

    // indicate finish
    Sound.beepSequenceUp();
  }
Ejemplo n.º 2
0
  private static boolean followPath() {
    PathTraveller t = PathTraveller.getInstance();
    Driver driver = Driver.getInstance();
    ObstacleDetector detector = ObstacleDetector.getInstance();
    Map map = Map.getInstance();

    while (!t.pathIsEmpty()) {
      Waypoint next = t.popNextWaypoint();
      // Turn to the next tile
      driver.turnTo(
          Coordinate.calculateRotationAngle(
              Odometer.getInstance().getCurrentCoordinate(), new Coordinate(next)));

      // scan the next area
      if (detector.scanTile()) {
        // block next tile
        map.blockNodeAt(next.x, next.y);
        return false;
      }

      driver.travelTo(new Coordinate(next));
    }

    return true;
  }
Ejemplo n.º 3
0
  /** Generates a search path based on the config */
  public static Stack<Coordinate> generateSearchPath() {

    ArrayList<Coordinate> points = PathTraveller.getInstance().getAllPointsInFlagZoneList();

    Stack<Coordinate> searchpath = new Stack<Coordinate>();
    Coordinate latest = getClosestPoint(Odometer.getInstance().getCurrentCoordinate(), points);
    searchpath.push(latest);

    while (points.size() > 0) {
      latest = getClosestPoint(latest, points);
      searchpath.push(latest);
    }

    Stack<Coordinate> temp = new Stack<Coordinate>();
    while (!searchpath.isEmpty()) {
      temp.push(searchpath.pop());
    }

    return temp;
  }