Ultrasonic Avoidance(Go Around)

gistfile1.txt

import lejos.nxt.*;
import lejos.robotics.navigation.*;
public class UltraObstacle {
	public static void main(String[] args) throws Exception {
		UltrasonicSensor sonic = new UltrasonicSensor(SensorPort.S1);
		DifferentialPilot pilot = new DifferentialPilot(2.1f, 4.4f, Motor.A, Motor.B);
		while(!Button.ESCAPE.isPressed()) {
			if(sonic.getDistance() < 10) {
				pilot.setTravelSpeed(8);
				//pilot.steer(-90, 90);
				pilot.travel(5);
				//pilot.steer(-90,90);
				pilot.rotate(310);
				pilot.travel(-16);
				pilot.rotate(-310);
				
			/*	if(sonic.getDistance() < 10) {
					continue;
				}
				else{
					pilot.travel(-12);
					pilot.steer(90,-90);
					pilot.travel(3);
					pilot.steer(90,-90);
				} */

			} 
			else {
				pilot.setTravelSpeed(-5);
				pilot.backward();
			}
						
			
		}
	}

}