Exemple #1
0
  public void run() {
    motor_left.resetTachoCount();
    motor_left.regulateSpeed(true);
    Movement.motor_left.smoothAcceleration(true);
    int previousCommandCount = -1;

    while (true) {
      if (Movement.getCommandCount() == previousCommandCount) {
        try {
          Thread.sleep(10);
        } catch (InterruptedException e) {
        }
        continue;
      }

      previousCommandCount = Movement.getCommandCount();
      setToAngle(ControlCentre.getTargetSteeringAngleLeft());
      int new_angle = getToAngle();
      if (new_angle < 10) LCD.drawString("  ", 8, 1);
      else if (new_angle < 100) LCD.drawString(" ", 9, 1);
      LCD.drawString(Integer.toString(new_angle), 7, 1);
      LCD.drawString("R", 11, 1);

      int cur_angle = getCurrentSteeringAngle();
      double delta = new_angle - cur_angle;
      final double C = Movement.rotConstant;
      double turn_angle = 0;

      if (Math.abs(delta) < thresholdAngle / 2.0) {
        continue;
      } else if (Math.abs(delta) >= thresholdAngle / 2.0 && Math.abs(delta) < thresholdAngle) {
        delta = thresholdAngle * delta / Math.abs(delta);
      }
      setCurrentSteeringAngle((int) (cur_angle + delta) % 360);

      if (delta != 0 && Math.abs(delta) < 180) {
        turn_angle = C * delta;
      } else if (delta >= 180 && delta < 360) {
        turn_angle = -C * (360 - delta);
      } else if (delta <= -180) {
        turn_angle = C * (360 + delta);
      } else {
          /* No turning needed */
        continue;
      }

      motor_left.rotate((int) Math.round(turn_angle));
    }
  }
 private void randomTurn() {
   int rnd = (int) Math.round(Math.random() * (double) 4);
   Motor.A.rotate(turnValue[rnd]);
 }