public void checkIfSharpCorner() {
leftMotor.stop();
rightMotor.stop();
isSharpCorner = false;
int performedRotation = 0;
DifferentialPilot pilot = new DifferentialPilot(2, 10, leftMotor, rightMotor);
if (getRealTimeValue() >= 0.1) {
pilot.rotate(-4);
isSharpCorner = true;
tellLineBehaviorIsSharpCorner();
} else {
for (int i = 0; i <= 40; i++) {
pilot.rotate(1);
performedRotation += 1;
if (getRealTimeValue() >= 0.1) {
isSharpCorner = true;
tellLineBehaviorIsSharpCorner();
break;
}
if (Button.readButtons() != 0) {
this.interrupt();
}
}
}
if (!isSharpCorner) {
align(pilot, performedRotation);
line.setIsNoSharpCorner();
}
}
public ManageNxtSteering(DataExchange DE) {
// initialize variables
DEObj = DE;
centreMotor = Motor.B;
centreMotor.resetTachoCount();
curPos = centreMotor.getTachoCount();
centreMotor.setSpeed(MIN_STEER_SPD);
// centreMotor.setAcceleration(10000);
centreMotor.flt();
oldDyn = 0;
newCmd = DataExchange.NULL_CMD;
isNxtStop = isNxtCalib = false;
};
@Override
public void waitComplete() throws RemoteException {
motor.waitComplete();
}
@Override
public void flt(boolean immediateReturn) throws RemoteException {
motor.flt(immediateReturn);
}
@Override
public RegulatedMotorListener removeListener() throws RemoteException {
return motor.removeListener();
}
@Override
public int getSpeed() throws RemoteException {
return motor.getSpeed();
}
@Override
public int getLimitAngle() throws RemoteException {
return motor.getLimitAngle();
}
@Override
public void rotateTo(int limitAngle) throws RemoteException {
motor.rotateTo(limitAngle);
}
@Override
public void backward() throws RemoteException {
motor.backward();
}
@Override
public void forward() throws RemoteException {
motor.forward();
}
@Override
public void close() throws RemoteException {
motor.close();
}
@Override
public void setAcceleration(int acceleration) throws RemoteException {
motor.setAcceleration(acceleration);
}
@Override
public void setStallThreshold(int error, int time) throws RemoteException {
motor.setStallThreshold(error, time);
}
@Override
public boolean isStalled() throws RemoteException {
return motor.isStalled();
}
public void run() {
// infinite task
while (true) {
// retrieve decoded opcode info
synchronized (this) {
newDyn = DEObj.getNxtDyn();
newCmd = DEObj.getNxtCmd();
newPos = DEObj.getNxtPos();
curPos = centreMotor.getTachoCount();
DEObj.setCurSteerPos(curPos);
}
;
// steer to newPos, if conditions apply
if ((newCmd != DataExchange.EXIT_CMD) && (newCmd != DataExchange.NULL_CMD)) {
if (oldDyn != newDyn) {
oldDyn = newDyn;
switch (newCmd) {
case DataExchange.STOP_CMD:
isNxtStop = true;
centreMotor.stop();
break;
case DataExchange.CAL_CMD:
centreMotor.rotate(getDeltaPos(newPos, curPos));
LCD.clear(6);
LCD.drawString("CMD:: CALIBRATE", 0, 6);
break;
case DataExchange.START_CMD:
isNxtStop = false;
if (isNxtCalib) {
// calibration is done, the current TachoCount
// position becomes the reference, i.e. "0 deg".
isNxtCalib = false;
centreMotor.resetTachoCount();
curPos = centreMotor.getTachoCount();
}
break;
case DataExchange.RELEASE_CMD:
// when user releases the mouse drag, the vehicle attempts to recover a straight
// drive.
// It simulates what happens naturally in a real car when the driver gets his hands
// off
// the steering upon exiting from a curve.
centreMotor.rotateTo(0);
break;
case DataExchange.FRWD_CMD:
case DataExchange.BKWD_CMD:
if (!isNxtStop) {
centreMotor.rotate(getDeltaPos(newPos, curPos));
}
break;
default:
break;
}
; // switch case
} // if (old != new)
else {
centreMotor.flt();
}
try {
// thread going to sleep
ManageNxtSteering.sleep(50);
} catch (InterruptedException e) {
e.printStackTrace();
LCD.drawString("EX-6:", 0, 5);
LCD.refresh();
}
} // if (new != EXIT_CMD)
else {
if (newCmd == DataExchange.EXIT_CMD) {
centreMotor.stop(); /* stop motor */
break; /* exit while loop */
}
}
} // while loop
DEObj.setNXTdone(true);
}
@Override
public void rotate(int angle, boolean immediateReturn) throws RemoteException {
motor.rotate(angle, immediateReturn);
}
@Override
public void rotate(int angle) throws RemoteException {
motor.rotate(angle);
}
@Override
public void resetTachoCount() throws RemoteException {
motor.resetTachoCount();
}
@Override
public void rotateTo(int limitAngle, boolean immediateReturn) throws RemoteException {
motor.rotateTo(limitAngle, immediateReturn);
}
@Override
public int getTachoCount() throws RemoteException {
return motor.getTachoCount();
}
@Override
public void setSpeed(int speed) throws RemoteException {
motor.setSpeed(speed);
}
@Override
public boolean isMoving() throws RemoteException {
return motor.isMoving();
}
@Override
public float getMaxSpeed() throws RemoteException {
return motor.getMaxSpeed();
}
@Override
public void addListener(RegulatedMotorListener listener) throws RemoteException {
motor.addListener(listener);
}