/*
* 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 simbad.demo;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;
import simbad.sim.Agent;
import simbad.sim.Arch;
import simbad.sim.Box;
import simbad.sim.LampActuator;
import simbad.sim.RangeSensorBelt;
import simbad.sim.RobotFactory;
import simbad.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 */
public void initBehavior() {}
/** Perform one step of Agent's Behavior */
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"));
}
}