Class IntersectionChooser

java.lang.Object
  JavaRCX
      IntersectionChooser

public class IntersectionChooser
extends JavaRCX

IntersectionChooser.java
 Given a spoke number, the robot when determining it is at an intersection
 will turn left, rotate clockwise starting(inclusive)at 12:00 counting spokes and when it 
 hits the nth spoke resume execution of intersection finder.

Since:

1.0

Field Summary

static int

SPOKE Which spoke to take when getting to an intersection.

Fields inherited from class JavaRCX

ALL, CENTER_ONLY, CENTER_RIGHT, DARK, L_ROTATION, LEFT_CENTER, LEFT_ONLY, LEFT_RIGHT, NONE, POWER, R_ROTATION, RIGHT_ONLY, state, watcher

Constructor Summary

IntersectionChooser()

Method Summary

static void	chooseSpoke() Given the value of SPOKE above and that the robot is at an intersection it will rotate to SPOKE and it thread safe from main, so no new calls to isIntersection() will be fired here.
static boolean	isIntersection(int triggerState) Determines whether at an intersection or not.
static void	main(java.lang.String[] args) Runs forever taking appropriate motor actions for each state it is in.

Methods inherited from class JavaRCX

initialize, lost, powerOff

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

SPOKE

public static final int SPOKE

Which spoke to take when getting to an intersection.
 Change only this variable to take different spokes.

See Also:

Constant Field Values

Constructor Detail

IntersectionChooser

public IntersectionChooser()

Method Detail

main

public static void main(java.lang.String[] args)

Runs forever taking appropriate motor actions for each state it is in.
 While loops within some statements attempt to fine tune the robot so it is back on the line in the CENTER_ONLY state.

Parameters:

args - a String[] value, command line arguements, none in this case.

isIntersection

public static boolean isIntersection(int triggerState)

Determines whether at an intersection or not.  This method is thread safe because it is called from within main.
 The watcher thread has no effect on anything here, it only goes back into effect when execution returns to the main.

Parameters:

triggerState - an int value

Returns:

a boolean value

chooseSpoke

public static void chooseSpoke()

Given the value of SPOKE above and that the robot is at an intersection
 it will rotate to SPOKE and it thread safe from main, so no new calls to isIntersection() will be fired here.