// polygon method: traces a triangle and a pentagon, and takes a DifferentialPilot object as
// method input
public static void polygon(DifferentialPilot Pilot1) {
// Triangle: having three sides, so for-loop goes from 1 to 3
for (int i = 1; i <= 3; i++) {
Pilot1.setTravelSpeed(5); // setting the travel and rotation speed for the robot
Pilot1.setRotateSpeed(30);
Pilot1.travel(24); // robot travels 2 feet forward
Pilot1.stop();
Delay.msDelay(300);
Pilot1.rotate(120); // robot rotates left to form a 60 degree interior angle
Pilot1.stop();
Delay.msDelay(300);
}
Delay.msDelay(1300);
// Pentagon: having five sides, so for-loop goes from 1 to 5
for (int i = 1; i <= 5; i++) {
Pilot1.setTravelSpeed(5); // setting the travel and rotation speed for the robot
Pilot1.setRotateSpeed(30);
Pilot1.travel(24); // robot travels 2 feet forward
Pilot1.stop();
Delay.msDelay(300);
Pilot1.rotate(72); // robot rotates left to form 108 interior angle of pentagon
Pilot1.stop();
Delay.msDelay(300);
}
Delay.msDelay(1300);
}
// circle method: traces a semi-circle and a quarter circle
// and takes two DifferentialPilot objects as method input
public static void circle(DifferentialPilot Pilot1, DifferentialPilot Pilot2) {
// Semi-Circle
Pilot1.setTravelSpeed(5); // first drawing the arc for the semi-circle
Pilot1.arc(36, 180); // robot arcs left for 180 degrees, guided by a 36 inch radius
Pilot1.stop();
Delay.msDelay(300);
Pilot1.setRotateSpeed(30);
Pilot1.rotate(90); // robot makes a 90 degree left turn
Pilot1.stop();
Delay.msDelay(300);
Pilot1.setTravelSpeed(5);
Pilot1.travel(
72); // here, we're closing up the semi-circle (that is, tracing diameter of the circle)
Delay.msDelay(1300);
// Quarter-Circle
Pilot2.setTravelSpeed(5);
Pilot2.arc(12, 90); // robot arcs right for 90 degree (so forms 1/4 of circle)
Pilot2.stop();
Delay.msDelay(300);
// loop to close up the quarter circle
for (int l = 1; l <= 2; l++) {
Pilot2.setRotateSpeed(30);
Pilot2.rotate(90); // robot makes a 90 degree right turn
Pilot2.stop();
Delay.msDelay(300);
Pilot2.setTravelSpeed(5);
Pilot2.travel(12); // robot goes forward for 12 in (the radius of circle)
Pilot2.stop();
Delay.msDelay(300);
}
}
/**
* Stops the robot when the ultrasonic sensor detects a certain distance.
*
* @param stopDistance as long as the current distance is less than this stop distance, the robot
* will keep moving. Once the current distance is larger than the stop distance, the function
* returns.
* @return the current distance upon stopping.
*/
private boolean stopBeforeEdge() {
int currentDistance = 0;
int lightLevelReading;
int distanceToObject;
boolean edgeIsSafe = false;
do {
lightLevelReading = lightSensorDown.readValue();
Motor.A.rotate(centerToEdgeDistance, true);
Motor.C.rotate(centerToEdgeDistance, true);
} while ((lightLevelReading > BLACK_WHITE_THRESHOLD)
&& (Motor.A.isMoving() && Motor.C.isMoving()));
pilot.stop();
lightLevelReading = lightSensorDown.readValue();
/*
distanceToObject = ultrasonicSensor.getDistance();
if(distanceToObject < 20)
{
edgeIsSafe = true;
Motor.A.setSpeed(1000);
Motor.C.setSpeed(1000);
pilot.setRotateSpeed(1000);
pilot.travel(280);
Delay.msDelay(10000);
return(edgeIsSafe);
}
if(lightLevelReading < BLACK_WHITE_THRESHOLD)
{
System.out.println("Unsafe edge");
edgeIsSafe = false;
return(edgeIsSafe);
}
else if (lightLevelReading > BLACK_WHITE_THRESHOLD)
{
System.out.println("Safe edge");
edgeIsSafe = true;
safeEdgeCount++;
return(edgeIsSafe);
}
*/
return (edgeIsSafe);
}
/**
* If an abyss is detected, the robot will rotate 10 degrees, until the light sensor sees normal
* ground again.
*/
@Override
public void action() {
System.out.println("Abys");
suppressed = false;
while (lightSensor.getLightValue() < threshold && !suppressed) {
pilot.rotate(10, true);
if (!pilot.isMoving()) {
Settings.whipAndBridgeCounter++;
}
Delay.msDelay(10);
}
while (pilot.isMoving() && !suppressed) {
Thread.yield();
}
pilot.stop();
}
/** The robot moves along the Wall and turns to the right, if the wall is too far away. */
@Override
public void action() {
suppressed = false;
Settings.motorAAngle = Settings.SENSOR_RIGHT;
while (!suppressed
&& !((Settings.TOUCH_L.isPressed() || Settings.TOUCH_R.isPressed()))
&& Settings.LIGHT.getLightValue() < 80) {
if (sonic.getDistance() > (distanceToWall + 10)) {
pilot.arc(-15, -90, true);
} else if (sonic.getDistance() <= distanceToWall) {
pilot.arc(40, 20, true);
} else if (sonic.getDistance() > distanceToWall) {
pilot.arc(-60, -20, true);
}
}
if (Settings.LIGHT.getLightValue() >= 80) {
pilot.stop();
System.out.println("LINE Detected");
Settings.afterSlider = true;
Settings.motorAAngle = Settings.SENSOR_FRONT;
Settings.PILOT.setTravelSpeed(Settings.PILOT.getMaxTravelSpeed() * 0.15);
}
}
private boolean stop() {
pilot.stop();
return true;
}
// Called once after isFinished returns true
protected void end() {
p.stop();
drivetrain.tankDrive(0, 0);
drivetrain.disableControl();
}
