// Method scans input and maps it; if obstacle is in front, left and right,
// backpedal. If there is a space adjacent but an obstacle at the front,
// turns to move around the obstacle using the available space.
public static void movRow() {
double nextCell = mapObj.basicProb(); // work out probability
// output to RConsole through BlueTooth
// btObj.stringToRCon("Object Probability in next Cell: %2f" + nextCell);
// mapObj.printMap(columns, numOfRowCells);
// sonar scan around of the robot
boolean[] scanResults = new boolean[3];
scanResults = mapObj.scanAll();
mapObj.updateMap(scanResults);
// btObj.stringToRCon("Scan Results: " + scanResults[0] + ", " + scanResults[1] + ", " +
// scanResults[2]);
// mapObj.printMap(columns, numOfRowCells);
if (scanResults[1]) { // if there's an obstacle in front
// if there's an obstacle to the left & right. i.e. a dead end
if (scanResults[0] && scanResults[2]) {
turnAround(scanResults[2], mapObj, movObj); // move backwards
} else {
// call movAround() method to navigate around the obstacle
movAround(scanResults[1], mapObj, movObj);
}
} else {
movObj.nextCell(mapObj); // move forward a cell
}
}
// Method to move around an obstacle - runs when obstacle is in front
public static void movAround(boolean r, MapSystem ms, Movement mv) {
mv.turn(r, ms); // true = right turn; false = left turn
movRow(); // scan and move forward if necessary
mv.turn(!r, ms); // invert the boolean to turn the other way
// move forward twice to pass the obstacle
movRow();
++loop2;
movRow();
++loop2;
mv.turn(!r, ms); // turn to face original column
boolean extend = mapObj.scanAhead(); // flag to check object is passed
while (extend) {
mv.turn(r, ms); // turn to move along the axis
movObj.nextCell(mapObj);
++loop2;
mv.turn(!r, ms); // face the original column
if (!mapObj.scanAhead()) { // if an obstacle is not found anymore
extend = false; // break the while loop
} else {
}
}
movRow(); // move into the original column
mv.turn(r, ms); // face the correct way to continue the patrol
}