WallyHackenslacker/RyABI
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Fixed some things with search ball.

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This commit is contained in:
Miguel Angel Astor Romero
2016-05-27 16:39:25 -04:30
parent 1b1ab7617b
commit 29854f5565
1 changed files with 58 additions and 50 deletions
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8
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
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@@ -40,6 +40,7 @@ public class SearchBallBehavior extends BaseBehavior {
private FeatureDetectorsHandler detectorHandler; private FeatureDetectorsHandler detectorHandler;
private RobotStateSingleton state; private RobotStateSingleton state;
private boolean turnLeft; private boolean turnLeft;
private boolean supress;
/** /**
* Creates a new {@link SearchBallBehavior}. * Creates a new {@link SearchBallBehavior}.
@@ -58,6 +59,7 @@ public class SearchBallBehavior extends BaseBehavior {
this.detectorHandler = FeatureDetectorsHandler.getInstance(); this.detectorHandler = FeatureDetectorsHandler.getInstance();
this.state = RobotStateSingleton.getInstance(); this.state = RobotStateSingleton.getInstance();
this.turnLeft = true; this.turnLeft = true;
this.supress = false;
} }
@Override @Override
@@ -69,6 +71,7 @@ public class SearchBallBehavior extends BaseBehavior {
/* If the current state is SEARCH_BALL then set the detectors and take control. */ /* If the current state is SEARCH_BALL then set the detectors and take control. */
if(state.getState() == States.SEARCH_BALL) { if(state.getState() == States.SEARCH_BALL) {
setDetectors(); setDetectors();
this.supress = false;
return true; return true;
} }
@@ -82,6 +85,8 @@ public class SearchBallBehavior extends BaseBehavior {
while(queue.hasNextLightSensorEvent()) while(queue.hasNextLightSensorEvent())
queue.getNextLightSensorEvent(); queue.getNextLightSensorEvent();
this.supress = false;
return true; return true;
} }
@@ -91,6 +96,7 @@ public class SearchBallBehavior extends BaseBehavior {
@Override @Override
public void action() { public void action() {
while(!supress) {
if(queue.hasNextRangeSensorEvent()) { if(queue.hasNextRangeSensorEvent()) {
/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */ /* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
if(pilot.isMoving()) if(pilot.isMoving())
@@ -152,11 +158,13 @@ public class SearchBallBehavior extends BaseBehavior {
} }
} }
} }
}
@Override @Override
public void suppress() { public void suppress() {
if(pilot.isMoving()) if(pilot.isMoving())
pilot.stop(); pilot.stop();
this.supress = true;
} }
/** /**