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();
}
}
/*
* Initializing the seesaw mode.
*/
private void seesaw() {
this.seesaw = new Seesaw(drive, colorSensor);
seesaw.run();
// 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);
}
}
/*
* Initializing the roll mode.
*/
private void rolls() {
this.rolls = new Rolls(drive, sonicSensor, sonicMotor, colorSensor);
rolls.run();
// 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);
}
}
/*
* Initializing the bridge mode.
*/
private void bridge() {
this.bridge = new Bridge(drive, sonicMotor, leftMotor, rightMotor, sonicSensor, colorSensor);
bridge.run();
// Change bridge -> elevator
if (RACE_MODE && PROGRAM_CHANGED && PROGRAM_STATUS == PROGRAM_ELEVATOR) {
PROGRAM_CHANGED = false;
LCD.clear();
System.out.println("Mode: Elevator");
elevator();
}
}
/*
* Initializing the final spurt.
*/
private void finalSpurt() {
FinalSpurt finalSpurt =
new FinalSpurt(
drive, sonicSensor, touchLeftSensor, touchRightSensor, sonicMotor, colorSensor);
finalSpurt.run();
// Change final spurt -> final boss
if (RACE_MODE && PROGRAM_CHANGED && PROGRAM_STATUS == PROGRAM_FINAL_BOSS) {
PROGRAM_CHANGED = false;
LCD.clear();
System.out.println("Mode: Final Boss");
finalBoss();
}
}
/*
* Initializing the elevator mode.
*/
private void elevator() {
this.elevator =
new Elevator(
drive, colorSensor, touchLeftSensor, touchRightSensor, sonicSensor, sonicMotor);
elevator.run();
// 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);
}
}
/*
* Start program to read a barcode. If a valid barcode could be found the
* next program will be loaded.
*/
private void barcode(boolean moveRobot) {
this.barcode = new Barcode(drive, colorSensor, moveRobot);
barcode.run();
if (barcode != null) {
int foundBarcode = barcode.getBarcode();
LCD.clear();
// System.out.println("Barcode: " + foundBarcode);
if (foundBarcode != -1) {
// Change the current program if a valid barcode has been found
changeProgram(foundBarcode);
}
}
}
private void elevatorCollision() {
LCD.clear();
LCD.drawString("Collision: " + collision, 0, 4);
Delay.msDelay(3000);
float[] dist = new float[sonicSensor.getDistanceMode().sampleSize()];
sonicSensor.getDistanceMode().fetchSample(dist, 0);
if ((dist[0] - DISTANCE_TO_WALL) > 0.005) {
drive.turnRight(5, false);
} else {
drive.turnLeft(5, false);
}
if (collision == "Wall") {
drive.stop();
} else if (collision == "Left Wall") {
drive.turnRight(5, false);
} else if (collision == "Right Wall") {
drive.moveDistance(drive.maxSpeed(), -2);
drive.turnLeft(20, false);
}
}
/** Initializes the main menu that enables the user to select a certain obstacle mode. */
public GUI() {
LCD.clear(); // Make sure display is clear before the menu is displayed
// Stop current obstacle program if the left button is pressed
Button.LEFT.addKeyListener(
new KeyListener() {
@Override
public void keyPressed(Key k) {
endAllPrograms();
}
@Override
public void keyReleased(Key k) {}
});
// Stop program when the escape button is pressed on the ev3 brick
Button.ESCAPE.addKeyListener(
new KeyListener() {
@Override
public void keyPressed(Key k) {
drive.stop();
endAllPrograms();
// Start the GUI again => main menu should be shown
// when the obstacle program has been interrupted
startGUI();
}
@Override
public void keyReleased(Key k) {}
});
startGUI();
}
private void displayMessage(String message) {
LCD.drawString(message, xPosition, yPosition);
Delay.msDelay(waitTime);
LCD.clear();
}
/*
* Helper method to initialize the GUI/creating the main menu.
*/
private void startGUI() {
// Creating the menu to select certain robot states/obstacles.
while (true) {
// The elements of the menu to display on the ev3 brick
String[] viewItems = {
"Labyrinth",
"Linie folgen",
"Bruecke",
"Haengebruecke",
"Rollen",
"Wippe",
"Aufzug",
"Endspurt",
"Endgegner",
"Exit",
"Barcode"
};
TextMenu menu = new TextMenu(viewItems, 1);
// LCD.clear();
int selection = menu.select();
/*
* Menu selection. Selection number is the index of the element in
* the viewItems array.
*/
if (selection == -1) {
// ESCAPE button pressed. End loop
break;
} else if (selection == 0) {
// Maze
LCD.clear();
LCD.drawString("Mode: Labyrinth", 0, 0);
PROGRAM_STATUS = PROGRAM_MAZE;
maze();
} else if (selection == 1) {
// Follow line
LCD.clear();
LCD.drawString("Mode: Linie folgen", 0, 0);
PROGRAM_STATUS = PROGRAM_FOLLOW_LINE;
followLine(false);
} else if (selection == 2) {
// Bridge
LCD.clear();
LCD.drawString("Mode: Bruecke", 0, 0);
PROGRAM_STATUS = PROGRAM_BRIDGE;
bridge();
} else if (selection == 3) {
// Chain bridge
LCD.clear();
LCD.drawString("Mode: Haengebruecke", 0, 0);
PROGRAM_STATUS = PROGRAM_CHAIN_BRDIGE;
chainBridge();
} else if (selection == 4) {
// Rolls
LCD.clear();
LCD.drawString("Mode: Rollen", 0, 0);
PROGRAM_STATUS = PROGRAM_ROLLS;
rolls();
} else if (selection == 5) {
// Seesaw
LCD.clear();
LCD.drawString("Mode: Wippe", 0, 0);
PROGRAM_STATUS = PROGRAM_SEESAW;
// seesaw();
followLine(false);
} else if (selection == 6) {
// Elevator
LCD.clear();
LCD.drawString("Mode: Aufzug", 0, 0);
PROGRAM_STATUS = PROGRAM_ELEVATOR;
elevator();
} else if (selection == 7) {
// Final spurt
LCD.clear();
LCD.drawString("Mode: Endspurt", 0, 0);
PROGRAM_STATUS = PROGRAM_FINAL_SPURT;
finalSpurt();
} else if (selection == 8) {
// Final boss
LCD.clear();
LCD.drawString("Mode: Endgegner", 0, 0);
PROGRAM_STATUS = PROGRAM_FINAL_BOSS;
finalBoss();
} else if (selection == 9) {
// Terminate whole program on ev3 brick
LCD.clear();
PROGRAM_STATUS = PROGRAM_EXIT;
System.exit(0);
} else if (selection == 10) {
// Barcode
LCD.clear();
LCD.drawString("Mode: Barcode", 0, 0);
PROGRAM_STATUS = PROGRAM_BARCODE;
barcode(true);
}
PROGRAM_STATUS = -1;
}
}
