public void shrink(int x, int y) {
int stripCt, stripTotal = y;
int pendingLength = x;
long tStart, tDuration;
for (stripCt = stripTotal; stripCt > 1; stripCt--) {
tStart = System.currentTimeMillis();
tDuration = 0;
while (tDuration < stripCt * 100) {
robot.moveMotor(100, 100);
if (Thread.currentThread().isInterrupted()) {
robot.moveMotors(0, 0);
recover(stripCt, robot.distance());
}
tDuration = System.currentTimeMillis() - tStart;
}
}
}
/** Stop the Create's motors by sending 0 mm/s velocities */
public void stopMoving() {
moveMotors(0, 0);
}