/**
* Kills other robots
*
* @param programm Current program running
*/
public void killThemAll(String program) {
if (program == "") {
drive.moveForward(drive.maxSpeed());
Delay.msDelay(TIME_TO_DESTRUCT);
}
}
public Collision(
boolean destructionMode,
Drive drive,
EV3TouchSensor leftSensor,
EV3TouchSensor rightSensor,
EV3UltrasonicSensor sonicSensor) {
this.drive = drive;
this.leftSensor = leftSensor;
this.rightSensor = rightSensor;
this.sonicSensor = sonicSensor;
speed = drive.maxSpeed();
collision = "none";
terminateCollisionEstimation = false;
this.destructionMode = destructionMode;
}
private void elevatorCollision() {
LCD.clear();
LCD.drawString("Collision: " + collision, 0, 4);
Delay.msDelay(3000);
float[] dist = new float[sonicSensor.getDistanceMode().sampleSize()];
sonicSensor.getDistanceMode().fetchSample(dist, 0);
if ((dist[0] - DISTANCE_TO_WALL) > 0.005) {
drive.turnRight(5, false);
} else {
drive.turnLeft(5, false);
}
if (collision == "Wall") {
drive.stop();
} else if (collision == "Left Wall") {
drive.turnRight(5, false);
} else if (collision == "Right Wall") {
drive.moveDistance(drive.maxSpeed(), -2);
drive.turnLeft(20, false);
}
}
/**
* Estimates the collision object depending on current program
*
* @param program Current program running
* @param delay Time to wait in ms
* @param destructionMode If collision object is a robot KILL IT ^^
* @return collision Estimated collision object
*/
public String estimateCollision(String program, int delay) {
float[] leftSample = new float[leftSensor.sampleSize()];
float[] rightSample = new float[rightSensor.sampleSize()];
int leftTouch = 0;
int rightTouch = 0;
int touchCount = 0;
boolean leftTouched = false;
boolean rightTouched = false;
collision = "none";
int run = 0;
while (run < 4) {
leftSensor.fetchSample(leftSample, 0);
leftSensor.fetchSample(leftSample, 0);
leftTouch = (int) leftSample[0];
rightTouch = (int) rightSample[0];
LCD.drawString("Left: " + String.valueOf(leftTouch), 0, 2);
LCD.drawString("right: " + String.valueOf(rightSample), 0, 3);
// for Bridge, ChainBridge, Elevator, Rolls, Seesaw
// Elevator dürfte nicht vorkommen
// TODO: Collision mit einem Sensor Roboter
if (leftTouch != 0 && rightTouch != 0) {
drive.stop();
Delay.msDelay(delay);
touchCount++;
if (touchCount == 2) {
collision = "Wall";
break;
}
} else if (leftTouch != 0) {
leftTouched = true;
drive.stop();
Delay.msDelay(delay);
if (!rightTouched) {
touchCount++;
} else {
rightTouched = false;
}
if (touchCount == 2) {
collision = "Left Wall";
break;
}
} else if (rightTouch != 0) {
rightTouched = true;
drive.stop();
Delay.msDelay(delay);
if (!leftTouched) {
touchCount++;
} else {
leftTouched = false;
}
if (touchCount == 2) {
collision = "Right Wall";
break;
}
} else if (touchCount < 2 && touchCount != 0) {
touchCount = 0;
collision = "Robot";
break;
}
run++;
}
if ((program == "ChainBridge"
|| program == "LineFollowing"
|| program == "Rolls"
|| program == "Seesaw"
|| program == "Maze")
&& collision == "Robot") {
if (destructionMode) {
killThemAll("");
} else {
drive.stop();
Delay.msDelay(TIME_TO_WAIT);
}
} else if (program == "Elevator") {
elevatorCollision();
} else if (program == "Bridge") {
} else if (program == "EndBoss") {
}
return collision;
}