// Parses integer messages
private static void parseMessage(int message) {
int reset = message & 1;
int kick = (message >>> 1) & 1;
int motor_dleft = (message >>> 2) & 7;
int motor_dright = (message >>> 5) & 7;
int motor_sleft = (message >>> 8) & 511;
int motor_sright = (message >>> 17) & 511;
ControlCentre.setKickState((kick != 0));
ControlCentre.setTargetSteeringAngleLeft(motor_sleft);
ControlCentre.setTargetSteeringAngleRight(motor_sright);
ControlCentre.setTargetDriveLeftVal(motor_dleft);
ControlCentre.setTargetDriveRightVal(motor_dright);
}
public void run() {
motor_left.resetTachoCount();
motor_left.regulateSpeed(true);
Movement.motor_left.smoothAcceleration(true);
int previousCommandCount = -1;
while (true) {
if (Movement.getCommandCount() == previousCommandCount) {
try {
Thread.sleep(10);
} catch (InterruptedException e) {
}
continue;
}
previousCommandCount = Movement.getCommandCount();
setToAngle(ControlCentre.getTargetSteeringAngleLeft());
int new_angle = getToAngle();
if (new_angle < 10) LCD.drawString(" ", 8, 1);
else if (new_angle < 100) LCD.drawString(" ", 9, 1);
LCD.drawString(Integer.toString(new_angle), 7, 1);
LCD.drawString("R", 11, 1);
int cur_angle = getCurrentSteeringAngle();
double delta = new_angle - cur_angle;
final double C = Movement.rotConstant;
double turn_angle = 0;
if (Math.abs(delta) < thresholdAngle / 2.0) {
continue;
} else if (Math.abs(delta) >= thresholdAngle / 2.0 && Math.abs(delta) < thresholdAngle) {
delta = thresholdAngle * delta / Math.abs(delta);
}
setCurrentSteeringAngle((int) (cur_angle + delta) % 360);
if (delta != 0 && Math.abs(delta) < 180) {
turn_angle = C * delta;
} else if (delta >= 180 && delta < 360) {
turn_angle = -C * (360 - delta);
} else if (delta <= -180) {
turn_angle = C * (360 + delta);
} else {
/* No turning needed */
continue;
}
motor_left.rotate((int) Math.round(turn_angle));
}
}
public void run() {
while (true) {
boolean kick = ControlCentre.getKickState();
if (kick) {
LCD.drawString("K,", 0, 1);
Movement.motor_kick.setSpeed(900);
Movement.motor_kick.rotate((-120 * (5 / 3)));
Movement.motor_kick.rotate((120 * (5 / 3)));
} else {
LCD.drawString("_,", 0, 1);
}
try {
Thread.sleep(100);
} catch (InterruptedException e) {
}
}
}
public void run() {
Multiplexor chip = new Multiplexor(SensorPort.S4);
while (true) {
int targetLeft = ControlCentre.getTargetDriveLeftVal();
LCD.drawString(Integer.toString(targetLeft) + ",", 2, 1);
switch (targetLeft) {
case 0:
chip.setMotors(0, 0, 0);
break;
case 4:
chip.setMotors(0, 0, 0);
break;
case 1:
chip.setMotors(1, 1, 0);
break;
case 2:
chip.setMotors(1, 2, 0);
break;
case 3:
chip.setMotors(1, 3, 0);
break;
case 5:
chip.setMotors(-1, 1, 0);
break;
case 6:
chip.setMotors(-1, 2, 0);
break;
case 7:
chip.setMotors(-1, 3, 0);
break;
}
int targetRight = ControlCentre.getTargetDriveRightVal();
LCD.drawString(Integer.toString(targetRight) + " L", 4, 1);
switch (targetRight) {
case 0:
chip.setMotors(0, 0, 1);
break;
case 4:
chip.setMotors(0, 0, 1);
break;
case 1:
chip.setMotors(1, 1, 1);
break;
case 2:
chip.setMotors(1, 2, 1);
break;
case 3:
chip.setMotors(1, 3, 1);
break;
case 5:
chip.setMotors(-1, 1, 1);
break;
case 6:
chip.setMotors(-1, 2, 1);
break;
case 7:
chip.setMotors(-1, 3, 1);
break;
}
try {
Thread.sleep(10);
} catch (InterruptedException e) {
}
}
}