/**
* Am I in the search zone?
*
* @return
*/
public static boolean inSearchZone() {
Coordinate now = Configuration.getInstance().getCurrentLocation();
Coordinate[] bl = Configuration.getInstance().getFlagZone();
return (now.getX() > bl[0].getX()
&& now.getX() < bl[1].getX()
&& now.getY() > bl[0].getY()
&& now.getY() < bl[1].getY())
&& !nearWall();
}
/**
* Is the robot near a wall?
*
* @return
*/
public static boolean nearWall() {
Coordinate now = Configuration.getInstance().getCurrentLocation();
return now.getX() < 25 || now.getY() < 25 || now.getX() > 305 || now.getY() > 305;
}