// default constructor
public Odometer(Motors pMotors) {
leftMotor = pMotors.getLeftMotor();
rightMotor = pMotors.getRightMotor();
wheelRadius = pMotors.getWheelRadius();
axleLength = pMotors.getAxleLength();
x = 0.0;
y = 0.0;
distanceTravelled = 0.0;
// by default the robot is pointing along the positive y axis
theta = Math.PI / 2;
lock = new Object();
}
public ObstacleAvoider(
Odometer pOdometer,
UltrasonicPoller pUltraSonicPoller,
UltrasonicController pwallFollowerController,
Motors pMotors) {
ultraSonicPoller = pUltraSonicPoller;
wallFollowerController = pwallFollowerController;
odometer = pOdometer;
leftMotor = pMotors.getLeftMotor();
rightMotor = pMotors.getRightMotor();
leftUltraSoundMotor = pMotors.getLeftUltraSoundMotor();
wheelRadius = pMotors.getWheelRadius();
axleLength = pMotors.getAxleLength();
}
