public EV3Bot() {
this.botMessage = "Lejos!";
this.xPosition = 0;
this.yPosition = 2;
this.waitTime = 4000;
this.turnWaitTime = 500;
distanceSensor = new EV3UltrasonicSensor(LocalEV3.get().getPort("S1"));
ultrasonicSamples = new float[distanceSensor.sampleSize()];
distanceSensor.enable();
setupPilot();
}
public SensorHandler() {
distanceSensor = new EV3UltrasonicSensor(SensorPort.S1);
colorSensor = new EV3ColorSensor(SensorPort.S4);
distanceProvider = distanceSensor.getDistanceMode();
colorProvider = colorSensor.getRGBMode();
}
public void driveRoom() {
displayMessage("DriveRoom!");
distanceSensor.fetchSample(ultrasonicSamples, 0);
if (ultrasonicSamples[0] < 5) {
botPilot.travel(950.4);
Delay.msDelay(turnWaitTime);
botPilot.rotate(90);
Delay.msDelay(turnWaitTime);
botPilot.travel(3550.1);
Delay.msDelay(turnWaitTime);
botPilot.rotate(-90);
Delay.msDelay(turnWaitTime);
botPilot.travel(6000.2);
Delay.msDelay(turnWaitTime);
botPilot.rotate(90);
Delay.msDelay(turnWaitTime);
botPilot.travel(4410.4);
} else {
botPilot.travel(4410.4);
Delay.msDelay(turnWaitTime);
botPilot.rotate(-90);
Delay.msDelay(turnWaitTime);
botPilot.travel(6000.2);
Delay.msDelay(turnWaitTime);
botPilot.rotate(90);
Delay.msDelay(turnWaitTime);
botPilot.travel(3550.1);
Delay.msDelay(turnWaitTime);
botPilot.rotate(-90);
Delay.msDelay(turnWaitTime);
botPilot.travel(950.4);
}
}
private void elevatorCollision() {
LCD.clear();
LCD.drawString("Collision: " + collision, 0, 4);
Delay.msDelay(3000);
float[] dist = new float[sonicSensor.getDistanceMode().sampleSize()];
sonicSensor.getDistanceMode().fetchSample(dist, 0);
if ((dist[0] - DISTANCE_TO_WALL) > 0.005) {
drive.turnRight(5, false);
} else {
drive.turnLeft(5, false);
}
if (collision == "Wall") {
drive.stop();
} else if (collision == "Left Wall") {
drive.turnRight(5, false);
} else if (collision == "Right Wall") {
drive.moveDistance(drive.maxSpeed(), -2);
drive.turnLeft(20, false);
}
}