WallyHackenslacker/RyABI
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Fixed up to ball search.

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This commit is contained in:
Miguel Angel Astor Romero
2016-06-23 14:21:34 -04:00
parent 5289603a82
commit 2f829de04b
4 changed files with 55 additions and 55 deletions
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2
src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java
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@@ -78,7 +78,7 @@ public class RyABI {
pilot = new CompassPilot(compass, WHEEL_DIAMETER, TRACK_WIDTH, Motor.A, Motor.C); pilot = new CompassPilot(compass, WHEEL_DIAMETER, TRACK_WIDTH, Motor.A, Motor.C);
/* Create the feature detectors. */ /* Create the feature detectors. */
rangeDetector = new RangeFeatureDetector(sonar, 20, 200); rangeDetector = new RangeFeatureDetector(sonar, 30, 200);
touchDetector = new TouchFeatureDetector(touch); touchDetector = new TouchFeatureDetector(touch);
lightDetector = new LightFeatureDetector(light, invertLightDetector); lightDetector = new LightFeatureDetector(light, invertLightDetector);

2
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
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@@ -96,7 +96,6 @@ 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())
@@ -158,7 +157,6 @@ public class SearchBallBehavior extends BaseBehavior {
} }
} }
} }
}
@Override @Override
public void suppress() { public void suppress() {

2
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SensorCalibrationBehavior.java
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@@ -54,7 +54,7 @@ public class SensorCalibrationBehavior extends BaseBehavior {
/* Calibrate the compass by turning slowly by 720 degrees. */ /* Calibrate the compass by turning slowly by 720 degrees. */
System.out.println("Calib. compass"); System.out.println("Calib. compass");
DifferentialPilot p = new DifferentialPilot(wheelDiameter, trackWidth, Motor.A, Motor.C); DifferentialPilot p = new DifferentialPilot(wheelDiameter, trackWidth, Motor.A, Motor.C);
p.setRotateSpeed(25); p.setRotateSpeed(20);
compass.startCalibration(); compass.startCalibration();
p.rotate(720, false); p.rotate(720, false);
compass.stopCalibration(); compass.stopCalibration();

4
src/ve/ucv/ciens/cicore/icaro/ryabi/utils/Rotations.java
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@@ -36,8 +36,9 @@ public abstract class Rotations {
diff = 90.0f - cMeasure; diff = 90.0f - cMeasure;
do { do {
pilot.rotate(diff); pilot.rotate(diff);
cMeasure = compass.getDegreesCartesian(); cMeasure = 360.0f - compass.getDegreesCartesian();
diff = 90.0f - cMeasure; diff = 90.0f - cMeasure;
System.out.println(cMeasure + " " + diff);
} while(Math.abs(diff) > 1.0f); } while(Math.abs(diff) > 1.0f);
pilot.stop(); pilot.stop();
@@ -60,6 +61,7 @@ public abstract class Rotations {
pilot.rotate(diff); pilot.rotate(diff);
cMeasure = compass.getDegreesCartesian(); cMeasure = compass.getDegreesCartesian();
diff = -90 + cMeasure; diff = -90 + cMeasure;
System.out.println(cMeasure + " " + diff);
} while(Math.abs(diff) > 1.0f); } while(Math.abs(diff) > 1.0f);
pilot.stop(); pilot.stop();