Maze Following Robot (#10)

Author: Imesh-Isuranga

pom.xml

@@ -25,7 +25,7 @@
         <dependency>
             <groupId>pera.swarm</groupId>
             <artifactId>java-robot</artifactId>
-            <version>1.0.2</version>
+            <version>1.0.3</version>
         </dependency>
     </dependencies>
 

src/main/java/App.java

@@ -8,6 +8,8 @@
 import java.io.IOException;
 import java.util.Properties;
 
+import Robots.samples.MazeFollowingRobot;
+import Robots.samples.ObstacleAvoidRobot;
 import Robots.samples.SampleRobot;
 
 public class App {
@@ -33,7 +35,7 @@ public static void main(String[] args) {
             reader.close();
 
             // Start a single robot
-            Robot robot = new SampleRobot(10, 0, 0, 90);
+            Robot robot = new MazeFollowingRobot(10, 9, 9, 90);
             new Thread(robot).start();
 
             // // Start a swarm of robots

src/main/java/Robots/samples/MazeFollowingRobot.java

@@ -0,0 +1,84 @@
+package Robots.samples;
+
+import swarm.robot.VirtualRobot;
+
+/*
+* This robot will move in a maze environment freely
+* 
+* @author: Imesh Isuranga
+*/
+public class MazeFollowingRobot extends VirtualRobot {
+
+    // Size of a grid cell
+    private final double GRID_SPACE = 18.000;
+
+    // The default movement speed
+    private final int defaultMoveSpeed = 100;
+
+    // The default rotate speed
+    private final int defaultRotateSpeed = 100;
+
+    // Proximity Sensor options
+    // Angles for left,front and right side rotating
+    private int[] proximityAngles = { -90, 0, 90 };
+
+    // Index to get left proximity angle
+    public static int PROXIMITY_LEFT = 0;
+
+    // Index to get front proximity angle
+    public static int PROXIMITY_FRONT = 1;
+
+    // Index to get right proximity angle
+    public static int PROXIMITY_RIGHT = 2;
+
+    public MazeFollowingRobot(int id, double x, double y, double heading) {
+        super(id, x, y, heading);
+    }
+
+    public void setup() {
+        System.out.println("My Test Robot Started");
+
+        super.setup();
+
+        // Setup proximity sensor with 3 angles
+        proximitySensor.setAngles(proximityAngles);
+
+        // Start immediately after the setup
+        state = robotState.RUN;
+
+    }
+
+    @Override
+    public void loop() throws Exception {
+        super.loop();
+
+        if (state == robotState.RUN) {
+            // Get present distances from robot's left,front and right
+            int[] d = proximitySensor.getProximity().distances();
+
+            // Robot rotating way :- if distance from (any side +6) > GRID_SPACE then robot
+            // will rotate that side.
+
+            if (d[PROXIMITY_RIGHT] + 6 > GRID_SPACE) {
+                // Right
+                motion.rotateDegree(defaultRotateSpeed, 90);
+
+            } else if (d[PROXIMITY_FRONT] + 6 > GRID_SPACE) {
+                // Front
+
+            } else if (d[PROXIMITY_LEFT] + 6 > GRID_SPACE) {
+                // Turn Left
+                motion.rotateDegree(defaultRotateSpeed, -90);
+
+            } else {
+                // If robot can't go left,right and front then robot will rotate to back.
+                motion.rotateDegree(defaultRotateSpeed, 180);
+            }
+
+            // Robot move
+            motion.moveDistance(defaultMoveSpeed, GRID_SPACE);
+            delay(1000);
+
+        }
+    }
+}

src/main/java/Robots/samples/ObstacleAvoidRobot.java

@@ -55,5 +55,6 @@ public void loop() throws Exception {
                 motion.move(defaultMoveSpeed, defaultMoveSpeed, 1000);
             }
         }
+
     }
 }