private void rotate(String direction) throws IOException {
if (!direction.equals("RIGHT") && !direction.equals("LEFT")) {
throw new IllegalArgumentException("Invalid Direction " + direction);
}
mobileRobot.sendCommand("P1.ROTATE" + direction + " 90");
result = input.readLine();
}
private void scan(String device) throws IOException {
switch (device.toUpperCase()) {
case "SONAR":
device = "S";
break;
case "LASER":
device = "L";
break;
default:
throw new IllegalArgumentException("Invalid device " + device);
}
mobileRobot.sendCommand(device + "1.SCAN");
try {
result = input.readLine();
} catch (InterruptedIOException e) {
result = input.readLine();
}
parseMeasure(result, measures);
if (device.equals("S")) {
occupancyMap.drawSonarScan(position, measures);
} else if (device.equals("L")) {
occupancyMap.drawLaserScan(position, measures);
}
}
private void currentPos() throws IOException {
mobileRobot.sendCommand("R1.GETPOS");
result = input.readLine();
parsePosition(result, position);
}
private void moveForward(int steps) throws IOException {
mobileRobot.sendCommand("P1.MOVEFW " + steps * occupancyMap.getCellDimension());
result = input.readLine();
}
