package ctbot.utils;
public class NaviGoalOri extends NaviGoal {
private float targetOri;
private float targetDelta;
public NaviGoalOri(float ori, float delta) {
targetOri = ori;
targetDelta = delta;
this.subGoal = null;
this.nextGoal = null;
}
public boolean work(){
float dori = Odometry.normalizeOri(targetOri-Odometry.ori);
if (nanovm.lang.Math.abs(dori)<targetDelta)
return false;
if (dori<0.0f)
Navigator.goRotate(Navigator.checkTurnSpeed(-Navigator.MAX_SPEED, dori));
if (dori>0.0f)
Navigator.goRotate(Navigator.checkTurnSpeed(Navigator.MAX_SPEED, dori));
return true; // Goal needs additional work...
}
}