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FollowLine.java
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FollowLine.java
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package rpimc;
public class FollowLine {
public static void follow(double angle, int type1, int type2, float slope1,
float slope2) throws InterruptedException {
if (type1 == 0 && type2 == 0) {
// System.out.println("0 to 0\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 < slope1)
Start.motor.right();
else
Start.motor.left();
} else if (type1 == 0 && type2 == 1) {
// System.out.println("0 to 1\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
slope1 = (-1 / slope1);
if (slope2 > slope1)
angle = 180 - angle;
Start.motor.left();
} else if (type1 == 0 && type2 == 2) {
// System.out.println("0 to 2\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
angle = 180 - angle;
if (slope2 < slope1)
Start.motor.left();
else
Start.motor.right();
} else if (type1 == 0 && type2 == 3) {
// System.out.println("0 to 3\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
slope1 = (-1 / slope1);
if (slope2 < slope1)
angle = 180 - angle;
Start.motor.right();
} else if (type1 == 1 && type2 == 0) {
slope1 = (-1 / slope1);
// System.out.println("1 to 0\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 < slope1)
angle = 180 - angle;
Start.motor.right();
} else if (type1 == 1 && type2 == 1) {
// System.out.println("1 to 1\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 < slope1)
Start.motor.right();
else
Start.motor.left();
} else if (type1 == 1 && type2 == 2) {
slope1 = (-1 / slope1);
// System.out.println("1 to 2\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 > slope1)
angle = 180 - angle;
Start.motor.left();
} else if (type1 == 1 && type2 == 3) {
// System.out.println("1 to 3\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
angle = 180 - angle;
if (slope2 < slope1)
Start.motor.left();
else
Start.motor.right();
} else if (type1 == 2 && type2 == 0) {
// System.out.println("2 to 0\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
angle = 180 - angle;
if (slope2 < slope1)
Start.motor.left();
else
Start.motor.right();
} else if (type1 == 2 && type2 == 1) {
slope1 = (-1 / slope1);
// System.out.println("2 to 1\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 < slope1)
angle = 180 - angle;
Start.motor.right();
} else if (type1 == 2 && type2 == 2) {
// System.out.println("2 to 2\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 < slope1)
Start.motor.right();
else
Start.motor.left();
} else if (type1 == 2 && type2 == 3) {
slope1 = (-1 / slope1);
// System.out.println("2 to 3\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 > slope1)
angle = 180 - angle;
Start.motor.left();
} else if (type1 == 3 && type2 == 0) {
slope1 = (-1 / slope1);
// System.out.println("3 to 0\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 > slope1)
angle = 180 - angle;
Start.motor.left();
} else if (type1 == 3 && type2 == 1) {
// System.out.println("3 to 1\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
angle = 180 - angle;
if (slope2 < slope1)
Start.motor.left();
else
Start.motor.right();
} else if (type1 == 3 && type2 == 2) {
slope1 = (-1 / slope1);
// System.out.println("3 to 2\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 < slope1)
angle = 180 - angle;
Start.motor.right();
} else if (type1 == 3 && type2 == 3) {
// System.out.println("3 to 3\n" + "slope 2:" + slope2 + " slope 1:"
// + slope1);
if (slope2 < slope1)
Start.motor.right();
else
Start.motor.left();
}
Thread.sleep((long) (Math.abs(5 * angle)));
}
}