public void move() {
csCount = us.getCount() - base;
// System.out.println(csCount);
// move to first nest
if (csCount < 20) {
x2 += (xdes1[0] - x1) / 20;
y2 += (ydes1[0] - y1) / 20;
g.setPosition((int) x2, (int) y2);
// add part to gripper
if (csCount == 19) {
g.addPart(holdObj[0]);
us.lm.removePart(nest[0].index);
}
g.updateParts();
csCount++;
}
// move to second nest
else if (csCount >= 20 && csCount < 40) {
if (totalParts >= 2) {
x2 += (xdes1[1] - xdes1[0]) / 20;
y2 += (ydes1[1] - ydes1[0]) / 20;
g.setPosition((int) x2, (int) y2);
if (csCount == 39) {
g.addPart(holdObj[1]);
us.lm.removePart(nest[1].index);
}
g.updateParts();
csCount++;
}
// if no more parts to pick up go back to part robot center
else csCount = 80;
} else if (csCount >= 40 && csCount < 60) {
// move to third nest
if (totalParts >= 3) {
x2 += (xdes1[2] - xdes1[1]) / 20;
y2 += (ydes1[2] - ydes1[1]) / 20;
g.setPosition((int) x2, (int) y2);
if (csCount == 59) {
g.addPart(holdObj[2]);
us.lm.removePart(nest[2].index);
}
g.updateParts();
csCount++;
}
// if no more parts to pick up go back to part robot center
else csCount = 80;
} else if (csCount >= 60 && csCount < 80) {
// move to fourth nest
if (totalParts >= 4) {
x2 += (xdes1[3] - xdes1[2]) / 20;
y2 += (ydes1[3] - ydes1[2]) / 20;
g.setPosition((int) x2, (int) y2);
if (csCount == 79) {
g.addPart(holdObj[3]);
us.lm.removePart(nest[3].index);
}
g.updateParts();
csCount++;
}
// if no more parts to pick up go back to part robot center
else csCount = 80;
}
// go back to part robot center
else if (csCount >= 80 && csCount < 100) {
x2 += (x1 - xdes1[totalParts - 1]) / 20;
y2 += (y1 - ydes1[totalParts - 1]) / 20;
g.setPosition((int) x2, (int) y2);
g.updateParts();
csCount++;
}
// go to kit index
else if (csCount >= 100 && csCount < 120) {
x2 += (xdes2[0] - x1) / 20;
y2 += (ydes2[0] - y1) / 20;
g.setPosition((int) x2, (int) y2);
g.updateParts();
csCount++;
// m.repaint();
}
// go back to robot center
else if (csCount >= 120 && csCount < 140) {
if (csCount == 120) {
for (int j = 0; j < totalParts; j++) {
s2.getKit().addPart(holdObj[j], kitIndex[j]);
g.removePart(j).setPosition((int) xdes2[j], (int) ydes2[j]);
}
}
// s2.getKit().setIsComplete(true);
x2 += (x1 - xdes2[0]) / 20;
y2 += (y1 - ydes2[0]) / 20;
g.setPosition((int) x2, (int) y2);
g.updateParts();
csCount++;
// m.repaint();
}
// reset everything
else if (csCount == 140) {
csCount = 0;
isMoving = false;
}
}
