Java Reference
In-Depth Information
if
(dirDiff >
#
0.0 && dirDiff <
#
180.0) {
numSteps
#
dirDiff / rotStep;
orientation
#
1;
}
else if
(dirDiff >
#
0.0 && dirDiff > 180.0) {
numSteps
#
(360.0 - dirDiff) / rotStep;
orientation
#
-1;
}
else if
(dirDiff < 0.0 && -dirDiff <
#
180.0) {
numSteps
#
-dirDiff / rotStep;
orientation
#
-1;
}
else if
(dirDiff < 0.0 && -dirDiff > 180.0) {
numSteps
#
(360.0
!
dirDiff) / rotStep;
orientation
#
1;
}
running
#
true
;
}
else if
(command.equalsIgnoreCase("READ")) {
writeOut("t
#
"
!
Double.toString(this.localPos.getT())
!
" d
#
"
!
Double.toString(this.read(
true
)));
}
else if
(command.equalsIgnoreCase("SCAN")) {
rotStep
#
1.0;
scanMeasures.removeAll(scanMeasures);
numSteps
#
360.0 / rotStep;
orientation
#
1;
scan
#
true
;
// send the list of measures
commands.add("GETMEASURES");
running
#
true
;
}
else if
(command.equalsIgnoreCase("GETMEASURES")) {
Measure measure
#
null
;
String measures
#
"SCAN";
for
(
int
i
#
0; i < scanMeasures.size(); i
!!
) {
measure
#
(Measure) scanMeasures.get(i);
measures
!#
" d
#
"
!
measure.distance
!
" t
#
"
!
measure.direction;
}
writeOut(measures);
}
else if
(command.equalsIgnoreCase("DETECT")) {
detect
#
true
;
rotStep
#
8.0;
