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@@ -7,52 +7,59 @@ public class BoeBot{
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FysiekeIndicator fysiekeindicator;
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Aansturing aansturing;
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Lijnvolger lijnvolger;
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- Bluetooth bluetooth;
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+ Bluetooth bluetooth;
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+ Afstandsbediening afstandsbedieningir;
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+ boolean routeAfgerond;
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- char route[];
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+ char[] route;
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static int currentCase = 4;
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static int currentStep = 0;
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public BoeBot(){
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motor = new MotorAansturing();
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- botsingdetectie = new Botsingdetectie();
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+ afstandsbedieningir = new Afstandsbediening(motor);
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+ //botsingdetectie = new Botsingdetectie();
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aansturing = new Aansturing(4,4);
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lijnvolger = new Lijnvolger();
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- fysiekeindicator = new FysiekeIndicator();
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- bluetooth = new Bluetooth();
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+ bluetooth = new Bluetooth();
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motor.setSnelheid(100);
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motor.setRichting(true);
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- route = new char[]{'v','v','v','l','l','r','r','v','r','v', ' '};
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- for(int i = 0; i < route.length; i++){
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- System.out.println(route[i]);
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+ routeAfgerond = false;
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- }
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System.out.println("de huidige stappen:" );
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//variabele om functies in en uit te schakelen.
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boolean afstandsbediening = true;
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boolean obstakelDetectie = false;
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boolean routeplanner = true;
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boolean sparcours = false;
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-
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- boolean routeafgerond = true;
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+ int btcode = 0;
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while(true){
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- bluetooth.getRoute();
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-
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- if(obstakelDetectie){
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+ btcode = bluetooth.checkBt();
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+ if(btcode == 2){
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+ System.out.println("Route ontvangen!");
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+ route = bluetooth.getRoute();
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+ routeAfgerond = true;
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+ currentStep = 0;
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+ System.out.println(route[3]);
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+ }else if(btcode == 1){
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+ afstandsbedieningir.verwerkSignaal(bluetooth.getAfstandsbediening());
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+ }
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+ if(obstakelDetectie){
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obstakelDetectie();
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}
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if(afstandsbediening){
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}
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if(routeplanner){
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- if(routeafgerond){
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- routeafgerond = routeplanner();
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+ if(routeAfgerond){
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+ routeAfgerond = routeplanner();
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}
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}
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if(sparcours){
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}
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+ CPU.delay(100);
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}
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}
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public void obstakelDetectie(){
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@@ -131,10 +138,10 @@ public class BoeBot{
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case 4:
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if(currentCase != 4){
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if(route[currentStep] != ' '){
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-
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verwerkAansturing(route[currentStep]);
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System.out.println(route[currentStep-1]);
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CPU.delay(1000);
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+ motor.rijden();
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}else{
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motor.noodStop();
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System.out.println("klaar");
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@@ -146,11 +153,16 @@ public class BoeBot{
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case 5:
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if(currentCase != 5){
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motor.noodStop();
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+ motor.setSnelheid(30);
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System.out.println("Gat!!");
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currentCase = 5;
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+ CPU.delay(1000);
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+ motor.setRichting(false);
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+ motor.rijden();
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+ CPU.delay(3000);
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+ motor.noodStop();
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return false;
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-
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-
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+ // route = ontwijkBoebot(int xx, int xy, int x, int y, int rotation)
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}
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default:
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// motor.noodStop();
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