// circle method: traces a semi-circle and a quarter circle
// and takes two DifferentialPilot objects as method input
public static void circle(DifferentialPilot Pilot1, DifferentialPilot Pilot2) {
// Semi-Circle
Pilot1.setTravelSpeed(5); // first drawing the arc for the semi-circle
Pilot1.arc(36, 180); // robot arcs left for 180 degrees, guided by a 36 inch radius
Pilot1.stop();
Delay.msDelay(300);
Pilot1.setRotateSpeed(30);
Pilot1.rotate(90); // robot makes a 90 degree left turn
Pilot1.stop();
Delay.msDelay(300);
Pilot1.setTravelSpeed(5);
Pilot1.travel(
72); // here, we're closing up the semi-circle (that is, tracing diameter of the circle)
Delay.msDelay(1300);
// Quarter-Circle
Pilot2.setTravelSpeed(5);
Pilot2.arc(12, 90); // robot arcs right for 90 degree (so forms 1/4 of circle)
Pilot2.stop();
Delay.msDelay(300);
// loop to close up the quarter circle
for (int l = 1; l <= 2; l++) {
Pilot2.setRotateSpeed(30);
Pilot2.rotate(90); // robot makes a 90 degree right turn
Pilot2.stop();
Delay.msDelay(300);
Pilot2.setTravelSpeed(5);
Pilot2.travel(12); // robot goes forward for 12 in (the radius of circle)
Pilot2.stop();
Delay.msDelay(300);
}
}
// polygon method: traces a triangle and a pentagon, and takes a DifferentialPilot object as
// method input
public static void polygon(DifferentialPilot Pilot1) {
// Triangle: having three sides, so for-loop goes from 1 to 3
for (int i = 1; i <= 3; i++) {
Pilot1.setTravelSpeed(5); // setting the travel and rotation speed for the robot
Pilot1.setRotateSpeed(30);
Pilot1.travel(24); // robot travels 2 feet forward
Pilot1.stop();
Delay.msDelay(300);
Pilot1.rotate(120); // robot rotates left to form a 60 degree interior angle
Pilot1.stop();
Delay.msDelay(300);
}
Delay.msDelay(1300);
// Pentagon: having five sides, so for-loop goes from 1 to 5
for (int i = 1; i <= 5; i++) {
Pilot1.setTravelSpeed(5); // setting the travel and rotation speed for the robot
Pilot1.setRotateSpeed(30);
Pilot1.travel(24); // robot travels 2 feet forward
Pilot1.stop();
Delay.msDelay(300);
Pilot1.rotate(72); // robot rotates left to form 108 interior angle of pentagon
Pilot1.stop();
Delay.msDelay(300);
}
Delay.msDelay(1300);
}
private boolean moveStraight(boolean forward, int distance) {
if (forward) {
if (distance == 0) {
pilot.forward();
return true;
} else {
pilot.travel(distance);
return true;
}
} else {
if (distance == 0) {
pilot.backward();
return true;
} else {
pilot.travel(-distance);
return true;
}
}
}
public void drawSquare(float length) {
byte direction_l = 1;
if (length < 0) {
direction_l = -1;
length = -length;
}
for (int i = 0; i < 4; i++) {
p.travel(length);
p.rotate(direction_l * 90);
}
}
private int waitForReading() {
int lightLevelReading;
int distanceToObject;
do {
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
}
lightLevelReading = lightSensorDown.readValue();
} while (lightLevelReading > BLACK_WHITE_THRESHOLD);
distanceToObject = ultrasonicSensor.getDistance();
if (distanceToObject < 20) {
Motor.A.setSpeed(1000);
Motor.C.setSpeed(1000);
pilot.travel(300);
Delay.msDelay(10000);
}
return (lightLevelReading);
}
private void goBack() {
System.out.println("B");
// Move some more, and return right away
myPilot.travel(travelDist * -2.1);
}
/** Go forward method */
private void goForward(double numTimes, double dist) {
System.out.println("F");
// Move some more, and return right away
myPilot.travel(dist * numTimes);
}
