tgoossens

package procedure;

import model.Color;
import model.Direction;
import model.DrawRequest;
import model.DrawType;
import model.Position;
import model.RobotActivity;
import model.RobotState;
import model.Rotation;

tgoossens

	private void createQueue() {
		queue = new ArrayDeque<When<Predicate<RobotState>,Fn>>();
		
		
		queue.push(when(isOnWhiteLine,driveLongBackward)); //if already on white line move backward
		
		queue.push(when( and(isIdle, not(isOnWhiteLine)), driveForward)); //start driving forward
		
		queue.push(when( and(isMoving, isOnWhiteLine), stopRobot)); //stop when white line is detected
		

tgoossens

    1 2 3
    0 0 0
    0 0 0
     
    Rotate left
     
    2 3 0
    1 0 0
    0 0 0