WallyHackenslacker/RyABI
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Changed the rotation functions.

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This commit is contained in:
Miguel Angel Astor Romero
2016-06-23 13:00:59 -04:00
parent 29854f5565
commit 5289603a82
2 changed files with 26 additions and 35 deletions
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4
src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
View File

@@ -117,7 +117,7 @@ public class SearchBallBehavior extends BaseBehavior {
if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then start searching
* to the opposite side. */
pilot.travel(-100);
pilot.travel(-200);
turnLeft = false;
@@ -138,7 +138,7 @@ public class SearchBallBehavior extends BaseBehavior {
if(queue.hasNextTouchSensorEvent()) {
/* If an obstacle is found while searching then give up and go back
* to the start line. */
pilot.travel(-100);
pilot.travel(-200);
state.setState(States.WANDER);
ballFound = true;

57
src/ve/ucv/ciens/cicore/icaro/ryabi/utils/Rotations.java
View File

@@ -28,21 +28,18 @@ public abstract class Rotations {
* @param pilot The {@link ArcRotateMoveController} implementation that controls the robot.
*/
public static void rotate90(CompassHTSensor compass, ArcRotateMoveController pilot) {
float cMeasure;
float cMeasure = 0.0f, diff;
/* First reset the compass. */
pilot.stop();
compass.resetCartesianZero();
/* Start rotating slowly. */
pilot.setRotateSpeed(25);
pilot.rotate(Integer.MIN_VALUE - 1, true);
/* Keep rotating until the robot has turned 90 degrees. */
cMeasure = 360.0f;
try { Thread.sleep(200); } catch (InterruptedException e) { }
while(cMeasure > 270.0f) {
diff = 90.0f - cMeasure;
do {
pilot.rotate(diff);
cMeasure = compass.getDegreesCartesian();
}
diff = 90.0f - cMeasure;
} while(Math.abs(diff) > 1.0f);
pilot.stop();
}
@@ -53,21 +50,18 @@ public abstract class Rotations {
* @param pilot The {@link ArcRotateMoveController} implementation that controls the robot.
*/
public static void rotateM90(CompassHTSensor compass, ArcRotateMoveController pilot) {
float cMeasure;
float cMeasure = 0.0f, diff;
/* First reset the compass. */
pilot.stop();
compass.resetCartesianZero();
/* Start rotating slowly. */
pilot.setRotateSpeed(25);
pilot.rotate(-3000, true);
/* Keep rotating until the robot has turned 90 degrees. */
cMeasure = 0.0f;
try { Thread.sleep(200); } catch (InterruptedException e) { }
while(cMeasure < 90.0f) {
diff = -90;
do {
pilot.rotate(diff);
cMeasure = compass.getDegreesCartesian();
}
diff = -90 + cMeasure;
} while(Math.abs(diff) > 1.0f);
pilot.stop();
}
@@ -78,21 +72,18 @@ public abstract class Rotations {
* @param pilot The {@link ArcRotateMoveController} implementation that controls the robot.
*/
public static void rotate180(CompassHTSensor compass, ArcRotateMoveController pilot) {
float cMeasure;
float cMeasure = 0.0f, diff = 0.0f;
/* First reset the compass. */
pilot.stop();
compass.resetCartesianZero();
/* Start rotating slowly. */
pilot.setRotateSpeed(25);
pilot.rotate(Integer.MIN_VALUE - 1, true);
/* Keep rotating until the robot has turned 90 degrees. */
cMeasure = 360.0f;
try { Thread.sleep(200); } catch (InterruptedException e) { }
while(cMeasure > 180.0f) {
diff = 180.0f - cMeasure;
do {
pilot.rotate(diff);
cMeasure = compass.getDegreesCartesian();
}
diff = 180.0f - cMeasure;
} while(Math.abs(diff) > 1.0f);
pilot.stop();
}
}