How to I use a loop for all these statements

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I am writing a method to make a robot ride in a specific shape. During the riding he must detect collision and stop if he has detected an obstruction.
When I would use a loop for this, it would only detect collision at the start of the method, and not during the rest of the commands. How can I make this loop apply to every movement without making a loop for every single movement?

What I have tried:

5 stands for 5 centimers detection length

if(!Detect.obstacle(5))
{
forwardLong();
Drive.toTheRight();
forwardShort();
Drive.toTheLeft();
forwardLong();
Drive.toTheLeft();
forwardShort();
Drive.toTheLeft();
forwardLong();
Drive.toTheLeft();
forwardShort();
Drive.toTheRight();
forwardLong();
Drive.toTheRight();
forwardShort();
}
else
{
BoeBot.wait(5);
state = 1;
}

Posted 30-Nov-17 1:02am

Member 13549834

Updated 30-Nov-17 1:35am

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OriginalGriff · Answer 1 · 2017-11-30T01:25:00

The way I'd do it is to use a set of commands.
This could be as simple as a string of character pairs: one for operation, one for duration.
Perhaps like this:

FLDRFSDLFL...

Where "F" is for "forward", "L" is for "Long"; "D" is for "Direction", "R" is for "Right"; "F" is for "forward", "S" is for "Short"; "D" is for "Direction", "L" is for "Left"; ... and so on.
Then have your loop process a pair of characters: if it gets "FL" it calls forwardLong; if it gets "DL" it calls Drive.toTheLeft After each command, it checks for an obstruction before moving on to the next command.

This also means that you don't have to rewrite your code for each shape - just change the string you pass it.

Jochen Arndt · Answer 2 · 2017-11-30T01:34:00

Your question is not very clear. But I suggest to write a method for a single move passing distance and direction as parameters and returning the collision state:

Java

boolean MoveOne(boolean longMove, boolean leftDirection)
{
    // Optionally wait and check again here upon collision
    if (IsCollision())
        return false;
    if (longMove)
        forwardLong();
    else
        forwardShort();
    if (leftDirection)
        Drive.toTheLeft();
    else
        Drive.toTheRight();
    return true;
}

You can then define an array of movements and use a loop to call that function for each item pair:

Java

// Tip: Define constants for the corresponding moves to increase readability
boolean moveShape[][] = { 
    { true, false}, { false, true} // , ...
};
for (int i = 0; i < numberOfMoves; ++)
{
    if (!MoveOne(moveShape[i][0], moveShape[i][1]))
    {
        break;
    }
}

________________ · Answer 3 · 2017-11-30T01:35:00

Java

I suggest to look at bot moves as objects (I have no java environment now, so fix the syntax) :

You should define the class like

Java

class SingleMove
{
    public SingleMove(boolean short, boolean left)
    {
    Short = short;
    Left = left;
    }
        public boolean Short;
        public boolean Left;
    }

public void Move()
{
       if (Short)
    {
       forwardShort();
    }
    else
    {
      forwardLong();
    }

if (Left)
{
  Drive.toTheLeft();
}
else
{
  Drive.toTheRight();
}


}


}

Than you can create array with preferred algorithm of movement:

ArrayList [] Allmoves = new Arralylist;

Allmoves.Add(new SingleMove(True, False));

...

Allmoves.Add(new SingleMove(True, False));
Allmoves.Add(new SingleMove(False, False));

Then your action code will be like :

Java

for(int ii = 0 ; ii <  Allmoves.GetLenght(); ii++)
{
   if(!Detect.obstacle(5))
    {
        Allmoves[ii].Move();
    }
}

How to I use a loop for all these statements

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