/// <summary>
/// Move around the green block (obstacle).
/// </summary>
protected void GoAroundBlock()
{
if (greenBlockState == GreenBlockState.InitialAproach)
{
if (IsObstacleSeen() && obstacleRectangle.Height < cameraDimensions.Y - (cameraDimensions.Y / 5))
{
MoveForward(1, 1);
}
else if (IsObstacleSeen())
{
greenBlockState = GreenBlockState.StrafeAround;
}
else
{
trackingState = PredatorState.SearchingForPrey;
}
}
else if (greenBlockState == GreenBlockState.StrafeAround)
{
if ((IsObstacleSeen() && obstacleRectangle.Width > 15))
{
Strafe(4, strafingDirection);
lock (commandLock)
{
if (Odometry.LeftWheelTicks == 0 && Odometry.RearWheelTicks == 0 && Odometry.RightWheelTicks == 0)
{
odometryCount++;
}
else
{
odometryCount = 0;
}
if (odometryCount > 2)
{
MoveForward(4, -2);
strafingDirection = -strafingDirection;
greenBlockState = GreenBlockState.InitialAproach;
}
}
}
else
{
greenBlockState = GreenBlockState.MoveForwardSome;
}
}
else if (greenBlockState == GreenBlockState.MoveForwardSome)
{
MoveForward(28, 1);
greenBlockState = GreenBlockState.Rotate;
}
else if (greenBlockState == GreenBlockState.Rotate)
{
RotateByAngle(2, 2);
greenBlockState = GreenBlockState.InitialAproach;
trackingState = PredatorState.SearchingForPrey;
}
}
/// <summary>
/// Move around the green block (obstacle).
/// </summary>
protected void GoAroundBlock()
{
if (greenBlockState == GreenBlockState.InitialAproach)
{
if (IsObstacleSeen() && obstacleRectangle.Height < cameraDimensions.Y - (cameraDimensions.Y / 5))
MoveForward(1, 1);
else if (IsObstacleSeen())
greenBlockState = GreenBlockState.StrafeAround;
else
trackingState = PredatorState.SearchingForPrey;
}
else if (greenBlockState == GreenBlockState.StrafeAround)
{
if ((IsObstacleSeen() && obstacleRectangle.Width > 15))
{
Strafe(4, strafingDirection);
lock (commandLock)
{
if (Odometry.LeftWheelTicks == 0 && Odometry.RearWheelTicks == 0 && Odometry.RightWheelTicks == 0)
odometryCount++;
else
odometryCount = 0;
if (odometryCount > 2)
{
MoveForward(4, -2);
strafingDirection = -strafingDirection;
greenBlockState = GreenBlockState.InitialAproach;
}
}
}
else
greenBlockState = GreenBlockState.MoveForwardSome;
}
else if (greenBlockState == GreenBlockState.MoveForwardSome)
{
MoveForward(28, 1);
greenBlockState = GreenBlockState.Rotate;
}
else if (greenBlockState == GreenBlockState.Rotate)
{
RotateByAngle(2, 2);
greenBlockState = GreenBlockState.InitialAproach;
trackingState = PredatorState.SearchingForPrey;
}
}