Mobile robot exploration - Software Development Case Studies in Java - page 261

if (command.indexOf("ROTATERIGHT") > -1) {
double angle # Math.abs(Double.parseDouble(
command.trim().substring(12).trim()));
numRotSteps # angle / rotStep;
orientation # 1;
running # true ;
}
else if (command.indexOf("ROTATELEFT") > -1) {
double angle # Math.abs(Double.parseDouble(
command.trim().substring(11).trim()));
numRotSteps # angle / rotStep;
orientation # -1;
running # true ;
}
else if (command.indexOf("MOVEFW") > -1) {
double distance # Math.abs(Double.parseDouble(
command.trim().substring(7).trim()));
numMoveSteps # distance / moveStep;
orientation # 1;
running # true ;
}
else if (command.indexOf("MOVEBW") > -1) {
double distance # Math.abs(Double.parseDouble(
command.trim().substring(7).trim()));
numMoveSteps # distance / moveStep;
orientation # -1;
}
else
writeOut("DECLINED"); // invalid command
}
// The nextStep() method implements the elemental steps of
// each command
public void nextStep() {
if (! running) return ;
if (numRotSteps > 0.0) {
// executes a rotation step
if (numRotSteps < 1.0)
robotPos.rototrans(0.0, 0.0,
numRotSteps*orientation*rotStep);
else
robotPos.rototrans(0.0, 0.0, orientation*rotStep);
// updates the robot's position
robot.writePosition(robotPos);
// repaints the graphical interface
environment.repaint();
numRotSteps- # 1.0;
}