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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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108
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;
} }
@@ -91,64 +96,66 @@ public class SearchBallBehavior extends BaseBehavior {
@Override @Override
public void action() { public void action() {
if(queue.hasNextRangeSensorEvent()) { while(!supress) {
/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */ if(queue.hasNextRangeSensorEvent()) {
if(pilot.isMoving()) /* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
pilot.stop(); if(pilot.isMoving())
ballFound = true; pilot.stop();
state.setState(States.BALL_FOUND); ballFound = true;
state.setState(States.BALL_FOUND);
/* Discard unneeded range features. */ /* Discard unneeded range features. */
while(queue.hasNextRangeSensorEvent()) while(queue.hasNextRangeSensorEvent())
queue.getNextRangeSensorEvent(); queue.getNextRangeSensorEvent();
} else {
if(turnLeft) {
/* Search to the left of the robot. */
Rotations.rotateM90(compass, pilot);
pilot.travel(100);
if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then start searching
* to the opposite side. */
pilot.travel(-100);
turnLeft = false;
/* Discard unneeded touch events. */
while(queue.hasNextTouchSensorEvent())
queue.getNextTouchSensorEvent();
detectorHandler.enableTouchDetector();
}
Rotations.rotate90(compass, pilot);
} else { } else {
/* Search to the right of the robot. */ if(turnLeft) {
Rotations.rotate90(compass, pilot); /* Search to the left of the robot. */
pilot.travel(100); Rotations.rotateM90(compass, pilot);
pilot.travel(100);
if(queue.hasNextTouchSensorEvent()) { if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then give up and go back /* If an obstacle is found while searching then start searching
* to the start line. */ * to the opposite side. */
pilot.travel(-100); pilot.travel(-100);
state.setState(States.WANDER); turnLeft = false;
ballFound = true;
/* Discard unneeded touch events. */ /* Discard unneeded touch events. */
while(queue.hasNextTouchSensorEvent()) while(queue.hasNextTouchSensorEvent())
queue.getNextTouchSensorEvent(); queue.getNextTouchSensorEvent();
detectorHandler.enableTouchDetector(); detectorHandler.enableTouchDetector();
}
Rotations.rotate90(compass, pilot);
} else {
/* Search to the right of the robot. */
Rotations.rotate90(compass, pilot);
pilot.travel(100);
if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then give up and go back
* to the start line. */
pilot.travel(-100);
state.setState(States.WANDER);
ballFound = true;
/* Discard unneeded touch events. */
while(queue.hasNextTouchSensorEvent())
queue.getNextTouchSensorEvent();
detectorHandler.enableTouchDetector();
}
Rotations.rotateM90(compass, pilot);
/* If the ball was found or the robot gave up then turn around towards the start line. */
if(ballFound)
Rotations.rotate180(compass, pilot);
} }
Rotations.rotateM90(compass, pilot);
/* If the ball was found or the robot gave up then turn around towards the start line. */
if(ballFound)
Rotations.rotate180(compass, pilot);
} }
} }
} }
@@ -157,6 +164,7 @@ public class SearchBallBehavior extends BaseBehavior {
public void suppress() { public void suppress() {
if(pilot.isMoving()) if(pilot.isMoving())
pilot.stop(); pilot.stop();
this.supress = true;
} }
/** /**