BlinkingLampDemo.java

/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/03/17 17:55:54 $ 
 * $Source: /cvsroot/simbad/src/simbad/demo/BlinkingLampDemo.java,v $
 */
package org.myrobotlab.mapper.demo;

import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import org.myrobotlab.mapper.sim.Agent;
import org.myrobotlab.mapper.sim.Arch;
import org.myrobotlab.mapper.sim.Box;
import org.myrobotlab.mapper.sim.LampActuator;
import org.myrobotlab.mapper.sim.RangeSensorBelt;
import org.myrobotlab.mapper.sim.RobotFactory;
import org.myrobotlab.mapper.sim.Wall;

/**
 * A Lamp actuator demo. The lamp blinks when the robot is approaching an
 * obstacle. The lamp is on when the robot is avoiding an obstacle. The demo
 * also demonstrates the use of quadrants reading for sonar belt.
 */
public class BlinkingLampDemo extends Demo {

  public class Robot extends Agent {

    RangeSensorBelt sonars;
    LampActuator lamp;

    public Robot(Vector3d position, String name) {
      super(position, name);
      sonars = RobotFactory.addSonarBeltSensor(this, 6);
      lamp = RobotFactory.addLamp(this);
    }

    /** Initialize Agent's Behavior */
    @Override
    public void initBehavior() {
    }

    /** Perform one step of Agent's Behavior */
    @Override
    public void performBehavior() {
      // turn lamp On or Off depending on sonars
      lamp.setBlink(false);
      lamp.setOn(false);
      if (sonars.oneHasHit()) {
        lamp.setBlink(true);
        // reads the three front quadrants
        double left = sonars.getFrontLeftQuadrantMeasurement();
        double right = sonars.getFrontRightQuadrantMeasurement();
        double front = sonars.getFrontQuadrantMeasurement();
        // if obstacle near
        if ((front < 1) || (left < 1) || (right < 1)) {
          lamp.setBlink(false);
          lamp.setOn(true);
          if (left < right)
            setRotationalVelocity(-1);
          else
            setRotationalVelocity(1);
          setTranslationalVelocity(0.1);

        } else {
          setRotationalVelocity(0);
          setTranslationalVelocity(0.3);
        }
      } else if (collisionDetected()) {

        lamp.setOn(true);
      } else {
        setTranslationalVelocity(0.8);
        setRotationalVelocity(0);
      }
    }
  }

  public BlinkingLampDemo() {

    Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
    w1.rotate90(1);
    add(w1);
    Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
    w2.rotate90(1);
    add(w2);
    Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
    add(w3);
    Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
    add(w4);
    Box b1 = new Box(new Vector3d(-3, 0, -3), new Vector3f(1, 1, 2), this);
    add(b1);
    Arch a1 = new Arch(new Vector3d(3, 0, -3), this);
    add(a1);

    // add(new Robot(new Vector3d(-3, 0, 4), "blinker"));
    add(new Robot(new Vector3d(0, 0, 4), "blinker"));
    add(new Robot(new Vector3d(3, 0, 4), "blinker"));

  }
}