/** Make the Robot navigate to the closest node to the basket, then process to defend. */
public void start() {
navigator.defineRestrictions(true);
// node 69 should be the tile just in front of basket
navigator.travelPath(navigator.searchNode(69));
robotCtrl.turnTo(90);
robotCtrl.goToIntersect();
robotCtrl.turn(180);
deployMechanism();
robotCtrl.goBackward(25);
}
// constructors
public OdometerCorrection_v1(
RobotCtrl robotCtrl,
LineSensor lineSensorL,
LineSensor lineSensorR,
int odoCorrectionRefresh) {
this.robotCtrl = robotCtrl;
this.odometer = robotCtrl.getOdometer();
this.lineSensorL = lineSensorL;
this.lineSensorR = lineSensorR;
this.odoCorrectionTimer = new Timer(odoCorrectionRefresh, this);
}