// ----------------- Tick method -----------------
/// <summary> Make a tick with robot brain.</summary>
public void updateRobot()
{
if (currentStrategy != null)
{
currentStrategy.calculateNextMove(position, speed, heading, neighbors, out referenceSpeed, out referenceHeading);
}
else
{
setStrategy(new StandStill());
}
// Run collision avoidance code to check if robot is blocked.
blocked = false;
blocked = isBlocked();
if (blocked)
{
//setMotorSignals(new int[2] { 0, 0 }); //uncomment if using m3pi robots
//$$$$$Changes/Additions for RC car$$$$$//
setMotorSignals(new int[2] {
Program.neutralSpeed, motorSignals[1]
});
if (neighbors[0].getID() != 0) //The updateRobot() function is called separately for each robot; therefore a new obstacle avoidance strategy needs to be set only for glyph 0.
{
if (!blocktime) //The first time obstacle is detected, calculate the final point until which obstacle avoidance strategy needs to be valid.
{
finalPositionX = 2 * neighbors[0].getPosition().X - position.X;
finalPositionY = 2 * neighbors[0].getPosition().Y - position.Y;
blocktime = true;
}
int nrPointsObsAvoid = 15;
DoublePoint positionObst = neighbors[0].getPosition();
if (Math.Abs(finalPositionX - position.X) > 300 || Math.Abs(finalPositionY - position.Y) > 300)
{
setStrategy(new FollowPath("Avoid Obstacle", FollowPath.createEllipsePoints(200, 100, positionObst, nrPointsObsAvoid))); //obstacle avoidance path.
}
else
{
currentStrategy = Program.strategyList.ElementAt(Program.activeStrategyId); //After completing half-circle, the robot should continue on it's previous path as set in GUI.
}
}
else
{
setStrategy(new StandStill()); //For the obstacle, keep the strategy as StandStill.
}
//$$$$$$$$$$//
}
//else //uncomment if using m3pi robots
//{ //uncomment if using m3pi robots
// setMotorSignals(controller(speed, heading, referenceSpeed, referenceHeading)); //uncomment if using m3pi robots
setMotorSignals(controller(speed, heading, referenceHeading));
//} //uncomment if using m3pi robots
}
