Action.java
3.54 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
public class Action {
public static final long DELAI_DEFAULT = 1000;
private boolean endAction = true;
private long deltaL = 0;
private long deltaR = 0;
private long delaiL = DELAI_DEFAULT; // in us
private long delaiR = DELAI_DEFAULT; // in us
public Action() {}
public Action(long deltaL, long deltaR) {
this.deltaL = deltaL;
this.deltaR = deltaR;
this.endAction = false;
}
public Action(long deltaL, long deltaR, long delaiL, long delaiR) {
this.deltaL = deltaL;
this.deltaR = deltaR;
this.delaiL = delaiL;
this.delaiR = delaiR;
this.endAction = false;
}
public void addDeltaL(long amount){this.deltaL += amount; endAction = false;}
public void addDeltaR(long amount){this.deltaR += amount; endAction = false;}
public void setDeltaL(long amount){this.deltaL = amount; endAction = false;}
public void setDeltaR(long amount){this.deltaR = amount; endAction = false;}
public long getDeltaL(){return this.deltaL;}
public long getDeltaR(){return this.deltaR;}
public void setDelaiL(long delai){this.delaiL = delai; endAction = false;}
public void setDelaiR(long delai){this.delaiR = delai; endAction = false;}
public long getDelaiL(){return this.delaiL;}
public long getDelaiR(){return this.delaiR;}
public boolean isEmpty() {return endAction;}
public void calculateDelais(long microseconds) {
// left
double ticksL = (double) microseconds / (double) deltaL;
delaiL = (long) (ticksL / 2d); // 1 step = 1 "on state" + 1 "off state"
// right
double ticksR = (double) microseconds / (double) deltaR;
delaiR = (long) (ticksR / 2d);
// tests
if(delaiL < 50 || delaiR < 50)
System.out.println("Warning : delais are very small ! (< 50 us)");
}
@Override
public String toString() {
if(endAction)
return "End sequence";
if(deltaL == 0 && deltaR == 0)
return "Pause for " + String.valueOf((double) delaiL / 1000d) + " miliseconds";
if(deltaL == 0) {
if(deltaR > 0)
return "Turning right forward for " + String.valueOf(deltaR) + " steps during " + String.valueOf((double) (deltaR * delaiR) / 1000d) + " miliseconds";
else
return "Turning right backward for " + String.valueOf(-deltaR) + " steps during " + String.valueOf((double) (-deltaR * delaiR) / 1000d) + " miliseconds";
} if(deltaR == 0) {
if(deltaL > 0)
return "Turning left forward for " + String.valueOf(deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
else
return "Turning left backward for " + String.valueOf(-deltaL) + " steps during " + String.valueOf((double) (-deltaL * delaiL) / 1000d) + " miliseconds";
} if(deltaR == deltaL) {
if(deltaL > 0)
return "Going forward for " + String.valueOf(deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
else
return "Going backward for " + String.valueOf(-deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
} if(deltaR == -deltaL) {
if(deltaL > 0)
return "Turning on the spot clockwise for " + String.valueOf(deltaL) + " steps during "
+ String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
else
return "Turning on the spot anti-clockwise for " + String.valueOf(deltaR) + " steps during "
+ String.valueOf((double) (deltaR * delaiR) / 1000d) + " miliseconds";
}
return "Custom curve dL:" + String.valueOf(deltaL) + "steps tL:" + String.valueOf((double) (deltaL * delaiL) / 1000d) + "ms | dR"
+ String.valueOf(deltaR) + "steps tR:" + String.valueOf((double) (deltaR * delaiR) / 1000d) + "ms";
}
}