utilities

Class Search

java.lang.Object

java.lang.Thread

utilities.Search

All Implemented Interfaces:

Runnable

public class Search
extends Thread

Blue styrofoam block search functionality for the robot Goes to cardinal points on the field and searches for blocks at each

Version:

3.0

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Search.SearchState

Nested classes/interfaces inherited from class java.lang.Thread

Thread.State, Thread.UncaughtExceptionHandler

Field Summary

Fields

Modifier and Type	Field and Description
static double[][]	cardinals
int	currCardinal
private double[]	E
private float	lastDistanceDetected
private double	lastX
private double	lastY
private double[]	N
private Navigation	nav
private ArrayList<double[]>	objectLocations
private Odometer	odo
private double[]	S
static Search.SearchState	searchState
private USSensor	usSensor
private double[]	W

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors

Constructor and Description
Search(Odometer odometer, ColorSensor colorSensor, USSensor usSensor, double[][] GREEN) Constructor for Search Class

Method Summary

Modifier and Type	Method and Description
static float	colorDistance(float[] a, float[] b) Measures distance between two RGB color vectors
protected void	FOV(double angle) Perform a swipe scan of a certain aperture angle to precisely identify block At this stage the robot is ensured to be in close proximity of block
private void	inspectObject(double X, double Y) When object is in sight, approach slowly and inspect
protected static boolean	isStyrofoamBlock() Checks if the oject in front of the robot is a styrofoam block
void	run() Starts search thread
private boolean	testForObject() Checks if there is an object that can be detected by the robot
private boolean	testForStyrofoam() Approach an object to verify its nature
private void	travelToAxis(boolean frontwards) Travel to the corresponding axis Axis based on current cardinal point.

Methods inherited from class java.lang.Thread

activeCount, checkAccess, clone, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Field Detail

odo

private Odometer odo

nav

private Navigation nav

usSensor

private USSensor usSensor

N

private double[] N

W

private double[] W

S

private double[] S

E

private double[] E

cardinals

public static double[][] cardinals

currCardinal

public int currCardinal

objectLocations

private ArrayList<double[]> objectLocations

lastDistanceDetected

private float lastDistanceDetected

lastX

private double lastX

lastY

private double lastY

searchState

public static Search.SearchState searchState

Constructor Detail

Search

public Search(Odometer odometer,
              ColorSensor colorSensor,
              USSensor usSensor,
              double[][] GREEN)

Constructor for Search Class

Parameters:

odometer - Odometer object

colorSensor - ColorSensor object

usSensor - USSensor object

GREEN - coordinates of the green scoring zone

Method Detail

run

public void run()

Starts search thread

Specified by:

run in interface Runnable

Overrides:

run in class Thread

testForStyrofoam

private boolean testForStyrofoam()

Approach an object to verify its nature

Returns:

if the object is a styrofoam block

testForObject

private boolean testForObject()

Checks if there is an object that can be detected by the robot

Returns:

if there is an object that can be detected by the robot

inspectObject

private void inspectObject(double X,
                           double Y)

When object is in sight, approach slowly and inspect

FOV

protected void FOV(double angle)

Perform a swipe scan of a certain aperture angle to precisely identify block At this stage the robot is ensured to be in close proximity of block

Parameters:

angle - the field of view (FOV) to scan

travelToAxis

private void travelToAxis(boolean frontwards)

Travel to the corresponding axis Axis based on current cardinal point.

Parameters:

frontwards - direction to move in relative to robot

isStyrofoamBlock

protected static boolean isStyrofoamBlock()

Checks if the oject in front of the robot is a styrofoam block

Returns:

if the detected object is a styrofoam block

colorDistance

public static float colorDistance(float[] a,
                                  float[] b)

Measures distance between two RGB color vectors

Parameters:

a - first RGB vector

b - second RGB vector

Returns:

magnitude of the distance between a and b