/**
* 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);
}
}