public static void main(String[] args) throws Exception {
new RaceMain();
// Race
Settings.PILOT.setTravelSpeed(Settings.PILOT.getMaxTravelSpeed() * 0.70);
Settings.PILOT.setRotateSpeed(Settings.PILOT.getMaxRotateSpeed() / 4);
Motor.A.setSpeed(Motor.A.getMaxSpeed() / 5);
new SensorHeadCalibrate();
Settings.motorAAngle = Settings.SENSOR_RIGHT;
Settings.atStart = false;
new LightCalibrate();
Behavior b1 = new RaceFollowWall(13);
Behavior b2 = new Race();
Behavior b4 = new ReadCodes();
Behavior b3 = new RaceDrive();
Behavior b5 = new SensorHeadPosition();
Behavior b6 = new MotorAStall();
Behavior[] bArray = {b1, b2, b4, b3, b5, b6};
CustomArbitrator arbitrator = new CustomArbitrator(bArray);
Thread t = new Thread(arbitrator);
t.start();
}
/** The robot moves along the Wall and turns to the right, if the wall is too far away. */
@Override
public void action() {
suppressed = false;
Settings.motorAAngle = Settings.SENSOR_RIGHT;
while (!suppressed
&& !((Settings.TOUCH_L.isPressed() || Settings.TOUCH_R.isPressed()))
&& Settings.LIGHT.getLightValue() < 80) {
if (sonic.getDistance() > (distanceToWall + 10)) {
pilot.arc(-15, -90, true);
} else if (sonic.getDistance() <= distanceToWall) {
pilot.arc(40, 20, true);
} else if (sonic.getDistance() > distanceToWall) {
pilot.arc(-60, -20, true);
}
}
if (Settings.LIGHT.getLightValue() >= 80) {
pilot.stop();
System.out.println("LINE Detected");
Settings.afterSlider = true;
Settings.motorAAngle = Settings.SENSOR_FRONT;
Settings.PILOT.setTravelSpeed(Settings.PILOT.getMaxTravelSpeed() * 0.15);
}
}