public void doBoardSearch() {
this.nav.travelTo(30, 30);
this.nav.turnTo(2, false);
nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
while (!objectSeen()) {}
nav.setSpeeds(0, 0);
counter++;
Double rightAngle = odo.getAng();
nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
while (objectSeen()) {}
nav.setSpeeds(0, 0);
Double leftAngle = odo.getAng();
this.nav.turnTo(odo.getAng() - 5 - (0.5 * this.getAngleDistance(leftAngle, rightAngle)), false);
this.nav.setSpeeds(0, 0);
while (usPoller.getDistance() > 0.065) {
this.nav.setSpeeds(50, 50);
}
this.nav.setSpeeds(0, 0);
// go find another block
this.nav.travelTo(30, 30);
this.nav.turnTo(leftAngle + 20, false);
nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
while (!objectSeen()) {}
nav.setSpeeds(0, 0);
counter++;
rightAngle = odo.getAng();
nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
while (objectSeen()) {}
nav.setSpeeds(0, 0);
leftAngle = odo.getAng();
this.nav.turnTo(odo.getAng() - 5 - (0.5 * this.getAngleDistance(leftAngle, rightAngle)), false);
this.nav.setSpeeds(0, 0);
while (usPoller.getDistance() > 0.065) {
this.nav.setSpeeds(50, 50);
}
this.nav.setSpeeds(0, 0);
}
public void run() {
leftMotor.setAcceleration(2000);
rightMotor.setAcceleration(2000);
distMid = getFilteredData();
sensorMotor.rotate(45);
Delay.msDelay(500);
distLeft = getFilteredData();
sensorMotor.rotate(-90);
Delay.msDelay(500);
distRight = getFilteredData();
sensorMotor.rotate(45);
if (distLeft > distMid && distLeft > distRight) {
select = 0;
} else if (distRight >= distMid && distRight >= distLeft) {
select = 2; // turn right
}
if (select == 0) {
leftMotor.setSpeed(ROTATE_SPEED);
rightMotor.setSpeed(ROTATE_SPEED);
sensorMotor.setAcceleration(1000);
angleSave = odometer.getAng();
leftMotor.rotate(-convertAngle(2.2, 15, 89.8), true);
rightMotor.rotate(convertAngle(2.2, 15, 89.8), false);
sensorMotor.rotate(-85);
while (safe == false || collide() == false) {
if (getFilteredData() > 100 && filterControl < FILTER_OUT) {
// bad value, do not set the distance var, however do increment the filter value
filterControl++;
} else if (getFilteredData() > 100) {
// set distance to this.distance
distance = 100;
} else {
// distance went below 100, therefore reset everything.
filterControl = 0;
distance = getFilteredData();
}
perror = distance - bandCenter;
amperror = perror * proportion;
if (distance > 60) {
// if distance >80, the robot is about to do a U-turn
leftMotor.setSpeed(maxSpeed);
rightMotor.setSpeed(motorStraight);
// right wheel will speed up in order to turn left
leftMotor.forward();
rightMotor.forward();
}
/* else if(distance<8){
// if distance<8, the robot is going to hit the wall
leftMotor.setSpeed(motorStraight+50);
rightMotor.setSpeed(motorStraight+50);
leftMotor.forward();
rightMotor.backward();
// right motor rolls backwards to respond.
}
*/
else {
// general proportion error correction
rightMotor.setSpeed(motorStraight);
if ((motorStraight + amperror) > maxSpeed) {
leftMotor.setSpeed(maxSpeed);
}
// left wheel remains constant speed
else {
leftMotor.setSpeed((int) (motorStraight + amperror));
}
// right wheel will continuously correcting its speed according to errors.
leftMotor.forward();
rightMotor.forward();
}
if (CloseTo(rightDegreeHelper(angleSave, odometer.getAng()), -90)) {
sensorMotor.rotate(85);
safe = true;
}
}
}
if (select == 2) {
leftMotor.setSpeed(ROTATE_SPEED);
rightMotor.setSpeed(ROTATE_SPEED);
sensorMotor.setAcceleration(1000);
angleSave = odometer.getAng();
leftMotor.rotate(convertAngle(2.2, 15, 89.8), true);
rightMotor.rotate(-convertAngle(2.2, 15, 89.8), false);
sensorMotor.rotate(85);
while (safe == false || collide() == false) {
if (getFilteredData() > 100 && filterControl < FILTER_OUT) {
// bad value, do not set the distance var, however do increment the filter value
filterControl++;
} else if (getFilteredData() > 100) {
// set distance to this.distance
distance = 100;
} else {
// distance went below 100, therefore reset everything.
filterControl = 0;
distance = getFilteredData();
}
perror = distance - bandCenter;
amperror = perror * proportion;
if (distance > 60) {
// if distance >80, the robot is about to do a U-turn
leftMotor.setSpeed(motorStraight);
rightMotor.setSpeed(maxSpeed);
// right wheel will speed up in order to turn left
leftMotor.forward();
rightMotor.forward();
}
/* else if(distance<10){
// if distance<8, the robot is going to hit the wall
rightMotor.setSpeed(motorStraight+50);
rightMotor.setSpeed(motorStraight+50);
rightMotor.forward();
leftMotor.backward();
// right motor rolls backwards to respond.
}
*/
else {
// general proportion error correction
leftMotor.setSpeed(motorStraight);
if ((motorStraight + amperror) > maxSpeed) {
rightMotor.setSpeed(maxSpeed);
}
// left wheel remains constant speed
else {
rightMotor.setSpeed((int) (motorStraight + amperror));
}
// right wheel will continuously correcting its speed according to errors.
leftMotor.forward();
rightMotor.forward();
}
if (CloseTo(leftDegreeHelper(angleSave, odometer.getAng()), 90)) {
sensorMotor.rotate(-85);
safe = true;
}
}
}
if (collide() == true) {
leftMotor.stop(true);
rightMotor.stop(false);
leftMotor.rotate(convertDistance(2.2, -10), true);
rightMotor.rotate(convertDistance(2.2, -10), false);
}
}
public double getWallUsValue() {
return 0.40 * (1 + (0.181818 * Math.abs(Math.sin(Math.toRadians(2 * odo.getAng() + 180)))));
}
