// Method scans input and maps it; if obstacle is in front, left and right,
// backpedal. If there is a space adjacent but an obstacle at the front,
// turns to move around the obstacle using the available space.
public static void movRow() {
double nextCell = mapObj.basicProb(); // work out probability
// output to RConsole through BlueTooth
// btObj.stringToRCon("Object Probability in next Cell: %2f" + nextCell);
// mapObj.printMap(columns, numOfRowCells);
// sonar scan around of the robot
boolean[] scanResults = new boolean[3];
scanResults = mapObj.scanAll();
mapObj.updateMap(scanResults);
// btObj.stringToRCon("Scan Results: " + scanResults[0] + ", " + scanResults[1] + ", " +
// scanResults[2]);
// mapObj.printMap(columns, numOfRowCells);
if (scanResults[1]) { // if there's an obstacle in front
// if there's an obstacle to the left & right. i.e. a dead end
if (scanResults[0] && scanResults[2]) {
turnAround(scanResults[2], mapObj, movObj); // move backwards
} else {
// call movAround() method to navigate around the obstacle
movAround(scanResults[1], mapObj, movObj);
}
} else {
movObj.nextCell(mapObj); // move forward a cell
}
}
// method runs when robot is in a dead end and has to back up and go around
public static void turnAround(boolean r, MapSystem ms, Movement mv) {
mv.turn(ms); // 180 degree turn
movRow(); // move forward
// check for empty adjacent space
boolean[] scanResults = new boolean[3];
scanResults = mapObj.scanAll();
// Move to said empty space
if (scanResults[0] && !scanResults[2]) { // Obstacle on the Left
mv.turn(scanResults[0], ms); // turn right
movRow();
} else { // Obstacle on the Right
mv.turn(!scanResults[2], ms); // turn left
movRow();
mv.turn(!scanResults[2], ms);
movRow();
// move forward 2 cells, scanning as we go
// if an obstacle is still on the same axis as the first
// class it as a different obstacle
// move forward a cell
// scan again - recursive
// move back to the correct column
// if at a 'limit cell', turn left instead of right
}
}