public static void main(String[] args) {
LCDWriter lcd = LCDWriter.getInstance();
lcd.start();
UltrasonicPoller up = UltrasonicPoller.getInstance();
Odometer odo = Odometer.getInstance();
Driver.setSpeed(30);
Driver dr = Driver.getInstance();
ObjRec or = new ObjRec();
up.start();
odo.start();
Trajectory block = searchTile();
//
lcd.writeToScreen("here", 1);
if (block != null) {
dr.turnTo(odo.getTheta() + block.theta);
dr.forward(Math.abs(block.distance - 5));
try {
// if(or == null) lcd.writeToScreen("NO!", 1);
ArrayList<ObjRec.blockColor> color = or.detect();
//
if (color == null || color.size() == 0) lcd.writeToScreen("EMPTY", 1);
else {
int count = 1;
for (ObjRec.blockColor c : color) if (c != null) lcd.writeToScreen(c.name(), count++);
}
} catch (Exception e) {
lcd.writeToScreen("EXCEPTION", 1);
}
}
// lcd.writeToScreen("fin", 1);
// indicate finish
Sound.beepSequenceUp();
}