/*
* Terminates all programs that might currently run.
*/
private void endAllPrograms() {
if (barcode != null) {
barcode.end();
}
if (lineFollowing != null) {
lineFollowing.end();
}
if (maze != null) {
maze.end();
}
if (bridge != null) {
bridge.end();
}
if (elevator != null) {
elevator.end();
}
if (seesaw != null) {
seesaw.end();
}
if (chainBridge != null) {
chainBridge.end();
}
if (rolls != null) {
rolls.end();
}
if (finalSpurt != null) {
finalSpurt.end();
}
if (endboss != null) {
endboss.end();
}
}
private void followLine(boolean startChainBridge) {
this.lineFollowing = new LineFollowing(drive, colorSensor);
lineFollowing.run(startChainBridge);
// Start search for barcode.
if (RACE_MODE && PROGRAM_FINISHED_START_BARCODE) {
PROGRAM_FINISHED_START_BARCODE = false;
LCD.clear();
System.out.println("Mode: Barcode");
barcode(true);
} else if (RACE_MODE && PROGRAM_STATUS == PROGRAM_BRIDGE) {
PROGRAM_CHANGED = false;
LCD.clear();
System.out.println("Mode: Bridge");
bridge();
}
}
