public static void main(String args[]) {
final Devices robotModel = new Devices();
final Camera camera = new Camera();
final GoalStateController goalController = new GoalStateController(robotModel, camera);
Thread cameraUpdateThread =
new Thread(
new Runnable() {
public void run() {
while (true) {
camera.readNewFrame();
}
}
});
Thread goalControllerThread =
new Thread(
new Runnable() {
public void run() {
while (true) {
goalController.controlState();
}
}
});
cameraUpdateThread.start();
goalControllerThread.start();
robotModel.allMotorsOff();
robotModel.setRoller(true);
robotModel.setSpiral(true);
}
private void avoidWalls() {
currentStateController.stop();
final AvoidWallStateController avoidWallController = new AvoidWallStateController(robotModel);
currentStateController = avoidWallController;
Thread avoidWallThread =
new Thread(
new Runnable() {
public void run() {
avoidWallController.controlState();
}
});
avoidWallThread.start();
}
private void collectGroundBalls() {
currentStateController.stop();
final BallCollectionStateController ballCollectionController =
new BallCollectionStateController(robotModel, camera);
currentStateController = ballCollectionController;
Thread ballCollectionThread =
new Thread(
new Runnable() {
public void run() {
while (!ballCollectionController.isDone()) {
ballCollectionController.controlState();
}
}
});
ballCollectionThread.start();
}