Added proximity sensor to MazeFollowingRobot class

pom.xml

@@ -25,7 +25,7 @@
         <dependency>
             <groupId>pera.swarm</groupId>
             <artifactId>java-robot</artifactId>
-            <version>1.0.2</version>
+            <version>1.0.3</version>
         </dependency>
     </dependencies>
 

src/main/java/Robots/samples/MazeFollowingRobot.java

@@ -1,53 +1,95 @@
+// This robot will move in a maze environment freely
+// Written by Imesh Isuranga
+
 package Robots.samples;
 
-import swarm.Interfaces.IRobotState;
 import swarm.robot.VirtualRobot;
+import swarm.robot.types.ProximityReadingType;
+
+import java.util.Objects;
+
 
 public class MazeFollowingRobot extends VirtualRobot {
 
-    private int distanceThreshold = 15;
-    private int nearThreshold = 10;
+    //minimum distance between grid wall and robot
+    private final double GRID_SPACE = 18.000;
 
     // The default movement speed
-    private int defaultMoveSpeed = 100;
+    private final int defaultMoveSpeed = 100;
+
+    // The default rotate speed
+    private final int defaultRotateSpeed = 100;
+
+
+
+    // Proximity Sensor options
+    //angles for left,front and right side rotating
+    private int[] proximityAngles = { -90, 0, 90 };
+
+    //index to get left proximity angle
+    public static int PROXIMITY_LEFT = 0;
+
+    //index to get front proximity angle
+    public static int PROXIMITY_FRONT = 1;
+
+    //index to get right proximity angle
+    public static int PROXIMITY_RIGHT = 2;
+
+
+
+
 
     public MazeFollowingRobot(int id, double x, double y, double heading) {
         super(id, x, y, heading);
     }
 
     public void setup() {
+        System.out.println("My Test Robot Started");
+
         super.setup();
+
+        // Setup proximity sensor with 3 angles
+        proximitySensor.setAngles(proximityAngles);
+
+        // Start immediately after the setup
+        state = robotState.RUN;
+
     }
 
     @Override
     public void loop() throws Exception {
-        state = IRobotState.robotState.RUN;
         super.loop();
 
 
-        if(state == IRobotState.robotState.RUN){
-            double dist = distSensor.getDistance();
-
-
-            if(dist<=nearThreshold){
-                if(dist<=1){
-                    motion.rotateDegree((int) (defaultMoveSpeed * 0.75), 91);
-                    if(distSensor.getDistance()<=1){
-                        motion.rotateDegree((int) (defaultMoveSpeed * 0.75), -91);
-                        motion.rotateDegree((int) (defaultMoveSpeed * 0.75), -91);
-                        if(distSensor.getDistance()<=1){
-                            motion.rotateDegree((int) (defaultMoveSpeed * 0.75), -91);
-                        }
-                    }
-                }else{
-                    motion.moveDistance(defaultMoveSpeed,1);
-                    //motion.move(defaultMoveSpeed, defaultMoveSpeed, 100);
-                }
-            }else{
-                motion.moveDistance(defaultMoveSpeed,10);
-               // motion.move(defaultMoveSpeed, defaultMoveSpeed, 1000);
+        if (state == robotState.RUN) {
+            //creating ProximityReadingType object from proximitySensor
+            ProximityReadingType p = proximitySensor.getProximity();
+
+            //get present distances from robot's left,front and right
+            int[] d = proximitySensor.getProximity().distances();
+
+
+            //robot rotating way :- if distance from (any side +6) > GRID_SPACE then robot will rotate that side.
+
+            if (d[PROXIMITY_RIGHT] + 6 > GRID_SPACE) {
+                // Right
+                motion.rotateDegree(defaultRotateSpeed, 90);
+
+            } else if (d[PROXIMITY_FRONT] + 6 > GRID_SPACE) {
+                // Front
+
+            } else if (d[PROXIMITY_LEFT] + 6 > GRID_SPACE) {
+                // Turn Left
+                motion.rotateDegree(defaultRotateSpeed, -90);
+
+            } else {
+                //if robot can't go left,right and front then robot will rotate to back.
+                motion.rotateDegree(defaultRotateSpeed, 180);
             }
 
+            //robot move
+            motion.moveDistance(defaultMoveSpeed, GRID_SPACE);
+            delay(1000);
+
         }
-    }
-}
+}}

src/resources/config/sample_mqtt.properties

@@ -0,0 +1,5 @@
+server=127.0.0.1
+port=1883
+username=user
+password=pass
+channel="v1"