/** Main method that gets the Trabant going. */
public void go() throws InterruptedException {
try {
dashboard.log("Running ...");
driveDirect(speed, speed);
howFarBacked = howFarToGoBackWhenBumped;
while (isRunning()) {
try {
stateController();
} catch (Exception ex) {
Logger.getLogger(Trabant.class.getName()).log(Level.SEVERE, null, ex);
}
}
dashboard.log("Run completed.");
} catch (ConnectionLostException ex) {
Logger.getLogger(Trabant.class.getName()).log(Level.SEVERE, null, ex);
}
}
/**
* This method is called repeatedly
*
* @throws ConnectionLostException
*/
public void loop() throws ConnectionLostException {
try {
sonar.read();
} catch (InterruptedException ex) {
}
dashboard.log(
"L: "
+ sonar.getLeftDistance()
+ " F: "
+ sonar.getFrontDistance()
+ " R: "
+ sonar.getRightDistance());
}
public void initialize() throws ConnectionLostException {
dashboard.log("===========Start===========");
readSensors(SENSORS_GROUP_ID6);
dashboard.log("Battery Charge = " + getBatteryCharge() + ", 3,000 = Full charge");
}
