public static void main(String[] args) {
motorA = new EV3LargeRegulatedMotor(MotorPort.A);
motorB = new EV3LargeRegulatedMotor(MotorPort.B);
motorC = new EV3LargeRegulatedMotor(MotorPort.C);
// motorA.setSpeed(200);//UMB
// motorB.setSpeed(200.16f);//UMB
motorA.setAcceleration(50);
motorB.setAcceleration(50);
motorA.setSpeed(200);
motorB.setSpeed(201.5f);
frente(100);
parar();
resolucao_primeira();
levantar_garra();
motorA.setAcceleration(20);
motorB.setAcceleration(20);
frente(20);
baixar_garra();
frente(20);
levantar_garra();
frente(24);
motorA.setAcceleration(50);
motorB.setAcceleration(50);
frente(-10);
baixar_garra();
frente(-54);
/*
primeira_Prova();
parar();
resolucao_primeira();
segunda_Prova();
*/
}
public void run() {
leftMotor.setAcceleration(2000);
rightMotor.setAcceleration(2000);
distMid = getFilteredData();
sensorMotor.rotate(45);
Delay.msDelay(500);
distLeft = getFilteredData();
sensorMotor.rotate(-90);
Delay.msDelay(500);
distRight = getFilteredData();
sensorMotor.rotate(45);
if (distLeft > distMid && distLeft > distRight) {
select = 0;
} else if (distRight >= distMid && distRight >= distLeft) {
select = 2; // turn right
}
if (select == 0) {
leftMotor.setSpeed(ROTATE_SPEED);
rightMotor.setSpeed(ROTATE_SPEED);
sensorMotor.setAcceleration(1000);
angleSave = odometer.getAng();
leftMotor.rotate(-convertAngle(2.2, 15, 89.8), true);
rightMotor.rotate(convertAngle(2.2, 15, 89.8), false);
sensorMotor.rotate(-85);
while (safe == false || collide() == false) {
if (getFilteredData() > 100 && filterControl < FILTER_OUT) {
// bad value, do not set the distance var, however do increment the filter value
filterControl++;
} else if (getFilteredData() > 100) {
// set distance to this.distance
distance = 100;
} else {
// distance went below 100, therefore reset everything.
filterControl = 0;
distance = getFilteredData();
}
perror = distance - bandCenter;
amperror = perror * proportion;
if (distance > 60) {
// if distance >80, the robot is about to do a U-turn
leftMotor.setSpeed(maxSpeed);
rightMotor.setSpeed(motorStraight);
// right wheel will speed up in order to turn left
leftMotor.forward();
rightMotor.forward();
}
/* else if(distance<8){
// if distance<8, the robot is going to hit the wall
leftMotor.setSpeed(motorStraight+50);
rightMotor.setSpeed(motorStraight+50);
leftMotor.forward();
rightMotor.backward();
// right motor rolls backwards to respond.
}
*/
else {
// general proportion error correction
rightMotor.setSpeed(motorStraight);
if ((motorStraight + amperror) > maxSpeed) {
leftMotor.setSpeed(maxSpeed);
}
// left wheel remains constant speed
else {
leftMotor.setSpeed((int) (motorStraight + amperror));
}
// right wheel will continuously correcting its speed according to errors.
leftMotor.forward();
rightMotor.forward();
}
if (CloseTo(rightDegreeHelper(angleSave, odometer.getAng()), -90)) {
sensorMotor.rotate(85);
safe = true;
}
}
}
if (select == 2) {
leftMotor.setSpeed(ROTATE_SPEED);
rightMotor.setSpeed(ROTATE_SPEED);
sensorMotor.setAcceleration(1000);
angleSave = odometer.getAng();
leftMotor.rotate(convertAngle(2.2, 15, 89.8), true);
rightMotor.rotate(-convertAngle(2.2, 15, 89.8), false);
sensorMotor.rotate(85);
while (safe == false || collide() == false) {
if (getFilteredData() > 100 && filterControl < FILTER_OUT) {
// bad value, do not set the distance var, however do increment the filter value
filterControl++;
} else if (getFilteredData() > 100) {
// set distance to this.distance
distance = 100;
} else {
// distance went below 100, therefore reset everything.
filterControl = 0;
distance = getFilteredData();
}
perror = distance - bandCenter;
amperror = perror * proportion;
if (distance > 60) {
// if distance >80, the robot is about to do a U-turn
leftMotor.setSpeed(motorStraight);
rightMotor.setSpeed(maxSpeed);
// right wheel will speed up in order to turn left
leftMotor.forward();
rightMotor.forward();
}
/* else if(distance<10){
// if distance<8, the robot is going to hit the wall
rightMotor.setSpeed(motorStraight+50);
rightMotor.setSpeed(motorStraight+50);
rightMotor.forward();
leftMotor.backward();
// right motor rolls backwards to respond.
}
*/
else {
// general proportion error correction
leftMotor.setSpeed(motorStraight);
if ((motorStraight + amperror) > maxSpeed) {
rightMotor.setSpeed(maxSpeed);
}
// left wheel remains constant speed
else {
rightMotor.setSpeed((int) (motorStraight + amperror));
}
// right wheel will continuously correcting its speed according to errors.
leftMotor.forward();
rightMotor.forward();
}
if (CloseTo(leftDegreeHelper(angleSave, odometer.getAng()), 90)) {
sensorMotor.rotate(-85);
safe = true;
}
}
}
if (collide() == true) {
leftMotor.stop(true);
rightMotor.stop(false);
leftMotor.rotate(convertDistance(2.2, -10), true);
rightMotor.rotate(convertDistance(2.2, -10), false);
}
}
public static void levantar_garra() {
motorC.setSpeed(50);
motorC.rotate(50, false);
motorC.stop();
}
public static void baixar_garra() {
motorC.setSpeed(50);
motorC.rotate(-50, false);
motorC.stop();
}
public static void resolucao_primeira() {
motorC.setSpeed(30);
// motorC.rotate(-15, false);
motorC.rotate(-30, false);
motorC.stop();
}
