Added missing behaviors. Catch ball behavior is incomplete. Not tested.

src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java

@@ -14,11 +14,14 @@ import lejos.robotics.objectdetection.TouchFeatureDetector;
 import lejos.robotics.subsumption.Arbitrator;
 import lejos.robotics.subsumption.Behavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.AvoidObstaclesBehavior;
-import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.WanderBehavior;
-import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectionListener;
-import ve.ucv.ciens.cicore.icaro.ryabi.sensors.LightFeatureDetector;
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.CatchBallBehavior;
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.SearchBoxBehavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.SensorCalibrationBehavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.VictoryBehavior;
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.WanderBehavior;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectorsHandler;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectionListener;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.LightFeatureDetector;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.QuitButtonListener;
 
 @SuppressWarnings("deprecation")
@@ -37,8 +40,9 @@ public class RyABI {
 	private static TouchFeatureDetector     touchDetector;
 	private static LightFeatureDetector     lightDetector;
 	private static FeatureDetectionListener featureListener;
+	private static FeatureDetectorsHandler  detectorHandler;
 
-	public static void main(String[] args) {		
+	public static void main(String[] args) {
 		/* Create the sensors. */
 		sonar = new UltrasonicSensor(SensorPort.S1);
 		touch = new TouchSensor(SensorPort.S2);
@@ -48,14 +52,16 @@ public class RyABI {
 		/* Create the pilot. */
 		pilot = new CompassPilot(compass, WHEEL_DIAMETER, TRACK_WIDTH, Motor.A, Motor.C);
 
-		/* Create the feature detectors and their listener. */
+		/* Create the feature detectors. */
 		rangeDetector = new RangeFeatureDetector(sonar, 20, 200);
 		touchDetector = new TouchFeatureDetector(touch);
 		lightDetector = new LightFeatureDetector(light);
 
-		rangeDetector.enableDetection(true);
-		touchDetector.enableDetection(true);
-		lightDetector.enableDetection(true);
+		detectorHandler = FeatureDetectorsHandler.getInstance();
+		detectorHandler.setRangeDetector(rangeDetector);
+		detectorHandler.setTouchDetector(touchDetector);
+		detectorHandler.setLightDetector(lightDetector);
+		detectorHandler.disableAllDetectors();
 
 		featureListener = new FeatureDetectionListener();
 		rangeDetector.addListener(featureListener);
@@ -66,11 +72,13 @@ public class RyABI {
 		Button.ESCAPE.addButtonListener(new QuitButtonListener());
 
 		/* Create the behaviors. */
-		behaviors = new Behavior[4];
+		behaviors = new Behavior[6];
 		behaviors[0] = new WanderBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
-		behaviors[1] = new SensorCalibrationBehavior(sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
-		behaviors[2] = new AvoidObstaclesBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
-		behaviors[3] = new VictoryBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
+		behaviors[1] = new VictoryBehavior();
+		behaviors[2] = new SearchBoxBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
+		behaviors[3] = new CatchBallBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
+		behaviors[4] = new AvoidObstaclesBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
+		behaviors[5] = new SensorCalibrationBehavior(sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
 
 		/* Start the program. */
 		arbitrator = new Arbitrator(behaviors, true);

src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/AvoidObstaclesBehavior.java

@@ -7,18 +7,23 @@ import lejos.nxt.addon.CompassHTSensor;
 import lejos.robotics.navigation.ArcRotateMoveController;
 import ve.ucv.ciens.cicore.icaro.ryabi.sensors.SensorEvent;
 import ve.ucv.ciens.cicore.icaro.ryabi.sensors.SensorEventsQueue;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.Rotations;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
 public class AvoidObstaclesBehavior extends BaseBehavior {
-	private SensorEventsQueue       queue;
+	private RobotStateSingleton state;
+	private SensorEventsQueue   queue;
 
 	public AvoidObstaclesBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelRadius, float trackWidth) {
 		super(pilot, sonar, touch, light, compass, wheelRadius, trackWidth);
+		this.state = RobotStateSingleton.getInstance();
 		this.queue = SensorEventsQueue.getInstance();
 	}
 
 	@Override
 	public boolean takeControl() {
-		return queue.hasNextTouchSensorEvent();
+		return state.getState() == States.WANDER && queue.hasNextTouchSensorEvent();
 	}
 
 	@Override
@@ -27,9 +32,9 @@ public class AvoidObstaclesBehavior extends BaseBehavior {
 
 		pilot.stop();
 		pilot.travel(-100);
-		rotate90();
+		Rotations.rotate90(compass, pilot);
 		pilot.travel(250);
-		rotateM90();
+		Rotations.rotateM90(compass, pilot);
 		pilot.stop();
 
 		if(!queue.hasNextTouchSensorEvent())
@@ -38,36 +43,4 @@ public class AvoidObstaclesBehavior extends BaseBehavior {
 
 	@Override
 	public void suppress() { }
-
-	private void rotate90() {
-		float cMeasure;
-
-		compass.resetCartesianZero();
-
-		pilot.setRotateSpeed(25);
-		pilot.rotate(Integer.MIN_VALUE - 1, true);
-
-		cMeasure = 360.0f;
-		try { Thread.sleep(200); } catch (InterruptedException e) { }
-		while(cMeasure > 270.0f) {
-			cMeasure = compass.getDegreesCartesian();
-		}
-		pilot.stop();
-	}
-
-	private void rotateM90() {
-		float cMeasure;
-
-		compass.resetCartesianZero();
-
-		pilot.setRotateSpeed(25);
-		pilot.rotate(-3000, true);
-
-		cMeasure = 0.0f;
-		try { Thread.sleep(200); } catch (InterruptedException e) { }
-		while(cMeasure < 90.0f) {
-			cMeasure = compass.getDegreesCartesian();
-		}
-		pilot.stop();
-	}
 }

src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/CatchBallBehavior.java

@@ -0,0 +1,35 @@
+package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
+
+import lejos.nxt.LightSensor;
+import lejos.nxt.TouchSensor;
+import lejos.nxt.UltrasonicSensor;
+import lejos.nxt.addon.CompassHTSensor;
+import lejos.robotics.navigation.ArcRotateMoveController;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.Rotations;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
+
+public class CatchBallBehavior extends BaseBehavior {
+	RobotStateSingleton state;
+
+	public CatchBallBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
+		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
+		this.state = RobotStateSingleton.getInstance();
+	}
+
+	@Override
+	public boolean takeControl() {
+		return state.getState() == States.BALL_FOUND;
+	}
+
+	@Override
+	public void action() {
+		// TODO Close claw.
+
+		Rotations.rotate180(compass, pilot);
+		state.setState(States.WANDER);
+	}
+
+	@Override
+	public void suppress() { }
+}

src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBoxBehavior.java

@@ -0,0 +1,119 @@
+package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
+
+import lejos.nxt.LightSensor;
+import lejos.nxt.TouchSensor;
+import lejos.nxt.UltrasonicSensor;
+import lejos.nxt.addon.CompassHTSensor;
+import lejos.robotics.navigation.ArcRotateMoveController;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectorsHandler;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.SensorEventsQueue;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.Rotations;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
+
+public class SearchBoxBehavior extends BaseBehavior {
+	private SensorEventsQueue       queue;
+	private boolean                 ballFound;
+	private FeatureDetectorsHandler detectorHandler;
+	private RobotStateSingleton     state;
+	private boolean                 turnLeft;
+
+	public SearchBoxBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
+		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
+		this.queue = SensorEventsQueue.getInstance();
+		this.ballFound = false;
+		this.detectorHandler = FeatureDetectorsHandler.getInstance();
+		this.state = RobotStateSingleton.getInstance();
+		this.turnLeft = true;
+	}
+
+	@Override
+	public boolean takeControl() {
+		if(ballFound)
+			return false;
+
+		if(state.getState() == States.SEARCH_BALL) {
+			setDetectors();
+			return true;
+		}
+
+		if(queue.hasNextLightSensorEvent()) {
+			state.setState(States.SEARCH_BALL);
+			setDetectors();
+
+			while(queue.hasNextLightSensorEvent())
+				queue.getNextLightSensorEvent();
+
+			return true;
+
+		}
+
+		return false;
+	}
+
+	@Override
+	public void action() {
+		if(queue.hasNextRangeSensorEvent()) {
+			if(pilot.isMoving())
+				pilot.stop();
+			ballFound = true;
+			state.setState(States.BALL_FOUND);
+
+			while(queue.hasNextRangeSensorEvent())
+				queue.getNextRangeSensorEvent();
+
+		} else {
+			if(turnLeft) {
+				Rotations.rotateM90(compass, pilot);
+				pilot.travel(50);
+
+				if(queue.hasNextTouchSensorEvent()) {
+					pilot.travel(-100);
+
+					turnLeft = false;
+
+					while(queue.hasNextTouchSensorEvent())
+						queue.getNextTouchSensorEvent();
+
+					detectorHandler.enableTouchDetector();
+				}
+
+				Rotations.rotate90(compass, pilot);
+
+			} else {
+				Rotations.rotate90(compass, pilot);
+				pilot.travel(50);
+
+				if(queue.hasNextTouchSensorEvent()) {
+					pilot.travel(-100);
+
+					state.setState(States.WANDER);
+					ballFound = true;
+
+					while(queue.hasNextTouchSensorEvent())
+						queue.getNextTouchSensorEvent();
+
+					detectorHandler.enableTouchDetector();
+				}
+
+				Rotations.rotateM90(compass, pilot);
+
+				if(ballFound) {
+					Rotations.rotate180(compass, pilot);
+				}
+			}
+		}
+	}
+
+	@Override
+	public void suppress() {
+		if(pilot.isMoving())
+			pilot.stop();
+	}
+
+	private void setDetectors() {
+		detectorHandler.enableTouchDetector();
+		detectorHandler.disableLightDetector();
+		detectorHandler.enableRangeDetector();
+	}
+}

src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/VictoryBehavior.java

@@ -1,44 +1,81 @@
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
-import java.io.File;
-
-import lejos.nxt.LightSensor;
 import lejos.nxt.Sound;
-import lejos.nxt.TouchSensor;
-import lejos.nxt.UltrasonicSensor;
-import lejos.nxt.addon.CompassHTSensor;
-import lejos.robotics.navigation.ArcRotateMoveController;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectorsHandler;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.SensorEventsQueue;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
+@SuppressWarnings("unused")
 public class VictoryBehavior extends BaseBehavior {
-	private RobotStateSingleton state;
-	private File                musicSample;
+	private static final int C = 262;
+	private static final int D = 287;
+	private static final int E = 320;
+	private static final int F = 349;
+	private static final int G = 392;
+	private static final int A = 440;
+	private static final int B = 494;
 
-	public VictoryBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light,
-			CompassHTSensor compass, float wheelDiameter, float trackWidth) {
-		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
+	private RobotStateSingleton     state;
+	private SensorEventsQueue       queue;
+	private FeatureDetectorsHandler detectorHandler;
 
+	public VictoryBehavior() {
+		super(null, null, null, null, null, 0.0f, 0.0f);
 		state = RobotStateSingleton.getInstance();
-		musicSample = new File("victory.wav");
-		if(!musicSample.exists())
-			musicSample = null;
+		this.queue = SensorEventsQueue.getInstance();
+		this.detectorHandler = FeatureDetectorsHandler.getInstance();
 	}
 
 	@Override
 	public boolean takeControl() {
-		return state.getState() == RobotStateSingleton.States.VICTORY;
+		if(state.getState() == States.VICTORY) {
+			detectorHandler.disableAllDetectors();
+			return true;
+		}
+
+		if(queue.hasNextLightSensorEvent()) {
+			state.setState(States.VICTORY);
+			detectorHandler.disableAllDetectors();
+
+			while(queue.hasNextLightSensorEvent())
+				queue.getNextLightSensorEvent();
+
+			return true;
+
+		}
+
+		return false;
 	}
 
 	@Override
 	public void action() {
-		if(musicSample != null) {
-			int milis = Sound.playSample(musicSample);
-			try { Thread.sleep(milis); } catch(InterruptedException ie) { }
-		}
-		state.setState(RobotStateSingleton.States.DONE);
+		playToneDuration(B, 250);
+		playToneDuration(A, 250);
+		playToneDuration(G, 500);
+		playToneDuration(B, 250);
+		playToneDuration(A, 250);
+		playToneDuration(G, 500);
+		playToneDuration(G, 125);
+		playToneDuration(G, 125);
+		playToneDuration(G, 125);
+		playToneDuration(G, 125);
+		playToneDuration(A, 125);
+		playToneDuration(A, 125);
+		playToneDuration(A, 125);
+		playToneDuration(A, 125);
+		playToneDuration(B, 250);
+		playToneDuration(A, 250);
+		playToneDuration(G, 500);
+		state.setState(States.DONE);
 	}
 
 	@Override
 	public void suppress() { }
 
+
+	private void playToneDuration(int tone, int milis) {
+		Sound.playTone(tone, milis);
+		try { Thread.sleep(milis); } catch(InterruptedException ie) {}
+	}
 }

src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/WanderBehavior.java

@@ -1,29 +1,34 @@
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.LightSensor;
-import lejos.nxt.Motor;
 import lejos.nxt.TouchSensor;
 import lejos.nxt.UltrasonicSensor;
 import lejos.nxt.addon.CompassHTSensor;
 import lejos.robotics.navigation.ArcRotateMoveController;
-import lejos.robotics.navigation.CompassPilot;
+import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectorsHandler;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
+import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
-@SuppressWarnings("deprecation")
 public class WanderBehavior extends BaseBehavior {
-	private RobotStateSingleton           state;
+	private RobotStateSingleton     state;
+	private FeatureDetectorsHandler detectorHandler;
 
 	public WanderBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
 		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
-
 		state = RobotStateSingleton.getInstance();
-
-		pilot = new CompassPilot(compass, 56f, 155f, Motor.A, Motor.C);
+		detectorHandler = FeatureDetectorsHandler.getInstance();
 	}
 
 	@Override
 	public boolean takeControl() {
-		return state.getState() == RobotStateSingleton.States.WANDER;
+		if(state.getState() == States.WANDER) {
+			detectorHandler.enableTouchDetector();
+			detectorHandler.enableLightDetector();
+			detectorHandler.disableRangeDetector();
+			return true;
+
+		} else
+			return false;
 	}
 
 	@Override

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/FeatureDetectorsHandler.java

@@ -0,0 +1,84 @@
+package ve.ucv.ciens.cicore.icaro.ryabi.sensors;
+
+import lejos.robotics.objectdetection.RangeFeatureDetector;
+import lejos.robotics.objectdetection.TouchFeatureDetector;
+
+public final class FeatureDetectorsHandler {
+	private RangeFeatureDetector     rangeDetector;
+	private TouchFeatureDetector     touchDetector;
+	private LightFeatureDetector     lightDetector;
+
+	private FeatureDetectorsHandler() {
+		rangeDetector = null;
+		touchDetector = null;
+		lightDetector = null;
+	}
+
+	private static class SingletonHolder {
+		private static final FeatureDetectorsHandler INSTANCE = new FeatureDetectorsHandler();
+	}
+
+	public static FeatureDetectorsHandler getInstance() {
+		return SingletonHolder.INSTANCE;
+	}
+
+	public synchronized void setRangeDetector(RangeFeatureDetector rangeDetector) {
+		this.rangeDetector = rangeDetector;
+	}
+
+	public synchronized void setTouchDetector(TouchFeatureDetector touchDetector) {
+		this.touchDetector = touchDetector;
+	}
+
+	public synchronized void setLightDetector(LightFeatureDetector lightDetector) {
+		this.lightDetector = lightDetector;
+	}
+
+	public synchronized void enableRangeDetector() {
+		if(rangeDetector != null)
+			rangeDetector.enableDetection(true);
+	}
+
+	public synchronized void disableRangeDetector() {
+		if(rangeDetector != null)
+			rangeDetector.enableDetection(false);
+	}
+
+	public synchronized void enableTouchDetector() {
+		if(touchDetector != null)
+			touchDetector.enableDetection(true);
+	}
+
+	public synchronized void disableTouchDetector() {
+		if(touchDetector != null)
+			touchDetector.enableDetection(false);
+	}
+
+	public synchronized void enableLightDetector() {
+		if(lightDetector != null)
+			lightDetector.enableDetection(true);
+	}
+
+	public synchronized void disableLightDetector() {
+		if(lightDetector != null)
+			lightDetector.enableDetection(false);
+	}
+
+	public synchronized void enableAllDetectors() {
+		if(rangeDetector != null)
+			rangeDetector.enableDetection(true);
+		if(touchDetector != null)
+			touchDetector.enableDetection(true);
+		if(lightDetector != null)
+			lightDetector.enableDetection(true);
+	}
+
+	public synchronized void disableAllDetectors() {
+		if(rangeDetector != null)
+			rangeDetector.enableDetection(false);
+		if(touchDetector != null)
+			touchDetector.enableDetection(false);
+		if(lightDetector != null)
+			lightDetector.enableDetection(false);
+	}
+}

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/SensorEventsQueue.java

@@ -10,12 +10,12 @@ import lejos.robotics.objectdetection.TouchFeatureDetector;
 public final class SensorEventsQueue {
 	private Queue<SensorEvent> touchEventsQueue;
 	private Queue<SensorEvent> lightEventsQueue;
-	private Queue<SensorEvent> sonarEventsQueue;
+	private Queue<SensorEvent> rangeEventsQueue;
 
 	private SensorEventsQueue() {
 		touchEventsQueue = new Queue<SensorEvent>();
 		lightEventsQueue = new Queue<SensorEvent>();
-		sonarEventsQueue = new Queue<SensorEvent>();
+		rangeEventsQueue = new Queue<SensorEvent>();
 	}
 
 	private static class SingletonHolder {
@@ -34,7 +34,7 @@ public final class SensorEventsQueue {
 		} else if(detector instanceof LightFeatureDetector) {
 			lightEventsQueue.addElement(event);
 		} else if(detector instanceof RangeFeatureDetector) {
-			sonarEventsQueue.addElement(event);
+			rangeEventsQueue.addElement(event);
 		}
 	}
 
@@ -52,9 +52,9 @@ public final class SensorEventsQueue {
 			return null;
 	}
 
-	public synchronized SensorEvent getNextSonarSensorEvent() {
-		if(!sonarEventsQueue.empty())
-			return (SensorEvent) sonarEventsQueue.pop();
+	public synchronized SensorEvent getNextRangeSensorEvent() {
+		if(!rangeEventsQueue.empty())
+			return (SensorEvent) rangeEventsQueue.pop();
 		else
 			return null;
 	}
@@ -67,7 +67,7 @@ public final class SensorEventsQueue {
 		return !lightEventsQueue.empty();
 	}
 
-	public synchronized boolean hasNextSonarSensorEvent() {
-		return !sonarEventsQueue.empty();
+	public synchronized boolean hasNextRangeSensorEvent() {
+		return !rangeEventsQueue.empty();
 	}
 }

src/ve/ucv/ciens/cicore/icaro/ryabi/utils/RobotStateSingleton.java

@@ -22,8 +22,4 @@ public final class RobotStateSingleton {
 	public States getState() {
 		return this.state;
 	}
-
-	public enum States {
-		WANDER, SEARCH_BALL, BALL_FOUND, VICTORY, DONE;
-	}
 }

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

@@ -0,0 +1,54 @@
+package ve.ucv.ciens.cicore.icaro.ryabi.utils;
+
+import lejos.nxt.addon.CompassHTSensor;
+import lejos.robotics.navigation.ArcRotateMoveController;
+
+public abstract class Rotations {
+	public static void rotate90(CompassHTSensor compass, ArcRotateMoveController pilot) {
+		float cMeasure;
+
+		compass.resetCartesianZero();
+
+		pilot.setRotateSpeed(25);
+		pilot.rotate(Integer.MIN_VALUE - 1, true);
+
+		cMeasure = 360.0f;
+		try { Thread.sleep(200); } catch (InterruptedException e) { }
+		while(cMeasure > 270.0f) {
+			cMeasure = compass.getDegreesCartesian();
+		}
+		pilot.stop();
+	}
+
+	public static void rotateM90(CompassHTSensor compass, ArcRotateMoveController pilot) {
+		float cMeasure;
+
+		compass.resetCartesianZero();
+
+		pilot.setRotateSpeed(25);
+		pilot.rotate(-3000, true);
+
+		cMeasure = 0.0f;
+		try { Thread.sleep(200); } catch (InterruptedException e) { }
+		while(cMeasure < 90.0f) {
+			cMeasure = compass.getDegreesCartesian();
+		}
+		pilot.stop();
+	}
+
+	public static void rotate180(CompassHTSensor compass, ArcRotateMoveController pilot) {
+		float cMeasure;
+
+		compass.resetCartesianZero();
+
+		pilot.setRotateSpeed(25);
+		pilot.rotate(Integer.MIN_VALUE - 1, true);
+
+		cMeasure = 360.0f;
+		try { Thread.sleep(200); } catch (InterruptedException e) { }
+		while(cMeasure > 180.0f) {
+			cMeasure = compass.getDegreesCartesian();
+		}
+		pilot.stop();
+	}
+}

src/ve/ucv/ciens/cicore/icaro/ryabi/utils/States.java

@@ -0,0 +1,5 @@
+package ve.ucv.ciens.cicore.icaro.ryabi.utils;
+
+public enum States {
+	WANDER, SEARCH_BALL, BALL_FOUND, VICTORY, DONE;
+}