package lejos.robotics.proposal;
import lejos.robotics.RangeFinder;
import lejos.robotics.TachoMotor;
/*
* WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS.
* DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.
*/
public class CarefulDifferentialPilot extends DifferentialPilot {
private RangeFinder rangeFinder;
private float tolerance;
public CarefulDifferentialPilot(
RangeFinder rangeFinder, float tolerance,
float wheelDiameter, float trackWidth,
TachoMotor leftMotor, TachoMotor rightMotor, boolean reverse) {
super(wheelDiameter, trackWidth, leftMotor, rightMotor, reverse);
this.rangeFinder = rangeFinder;
this.tolerance = tolerance;
}
@Override
protected boolean continueMoving() {
return (rangeFinder.getRange() > tolerance);
}
}