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Challange.java
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package Lab5;
import lejos.utility.Delay;
public class Challange {
private static Movement robot = new Movement();
private static Display screen = new Display();
public static void main(String[] args) {
screen.Menu();
screen.Menu2();
//robot.initialCalibration();
if(screen.directionDetector==1)
{
checkRight();
}
if(screen.directionDetector==2)
{
checkLeft();
}
robot.distanceSensor.close();
}
public static void checkRight(){
while (true) {
robot.turn(robot.ROBOT_ROTATION_RIGHT);
robot.distance.fetchSample(robot.distanceSample, 0);
if (robot.distanceSample[0] < robot.TILE_LENGTH) {
Delay.msDelay(250);
robot.turn(robot.ROBOT_ROTATION_LEFT);
robot.distance.fetchSample(robot.distanceSample, 0);
if (robot.distanceSample[0] < robot.TILE_LENGTH) {
robot.turn(robot.ROBOT_ROTATION_LEFT);
robot.distance.fetchSample(robot.distanceSample, 0);
if (robot.distanceSample[0] < robot.TILE_LENGTH) {
// deadEnd Detected
robot.moveToDetectColor();
if (screen.isColorDetected()) {
break;
}
robot.calibration();
robot.turn(robot.ROBOT_ROTATION_RIGHT);
robot.moveToDetectColor();
if (screen.isColorDetected()) {
break;
}
robot.calibration();
robot.turn(robot.ROBOT_ROTATION_RIGHT);
robot.moveToDetectColor();
if (screen.isColorDetected()) {
break;
}
robot.calibration();
robot.turn(robot.ROBOT_ROTATION_RIGHT);
robot.moveForward35cm();
} else {
robot.moveForward35cm();
}
} else {
robot.moveForward35cm();
}
} else {
robot.moveForward35cm();
}
}
}
public static void checkLeft(){
while (true) {
robot.turn(robot.ROBOT_ROTATION_LEFT);
robot.distance.fetchSample(robot.distanceSample, 0);
if (robot.distanceSample[0] < robot.TILE_LENGTH) {
Delay.msDelay(250);
robot.turn(robot.ROBOT_ROTATION_RIGHT);
robot.distance.fetchSample(robot.distanceSample, 0);
if (robot.distanceSample[0] < robot.TILE_LENGTH) {
robot.turn(robot.ROBOT_ROTATION_RIGHT);
robot.distance.fetchSample(robot.distanceSample, 0);
if (robot.distanceSample[0] < robot.TILE_LENGTH) {
// deadEnd Detected
robot.moveToDetectColor();
if (screen.isColorDetected()) {
break;
}
robot.calibration();
robot.turn(robot.ROBOT_ROTATION_LEFT);
robot.moveToDetectColor();
if (screen.isColorDetected()) {
break;
}
robot.calibration();
robot.turn(robot.ROBOT_ROTATION_LEFT);
robot.moveToDetectColor();
if (screen.isColorDetected()) {
break;
}
robot.calibration();
robot.turn(robot.ROBOT_ROTATION_LEFT);
robot.moveForward35cm();
} else {
robot.moveForward35cm();
}
} else {
robot.moveForward35cm();
}
} else {
robot.moveForward35cm();
}
}
}
}