Processing sketches to simulate a robotic car.

Car has the following methods that may be useful:

Car(int x, int y, float theta)

This constructor method allows you to place a car on the canvas pointing in the direction of angle. The directions work with 0 as directly up and move in in a clockwise manner.

void setLeftSpeed(int s)

Set the speed of the left motor to an integer from 0 to 255.

void setRightSpeed(int s)

Set the speed of the left motor to an integer from 0 to 255.

void LEDSense()

Have the readings of the left and right sensors loaded into sensorValueRight and sensorValueLeft.

void show()

Draw the car on the canvas.

void move()

Compute the new position of the car based on the motor settings.

DriveSystem is basically an abstract class that needs to be subclassed to create a strategy for how the car is to move. This set up is to emulate an autonomous car.

There is one main method, void drive(). Below is a sample drive method. In this case we want to have the car move forward and then turn to the right, and then repeat those actions.

void drive() {
    //override me.
    if (noSense==0) {
      if (approach==0) {
        myCar.setLeftSpeed(30);
        myCar.setRightSpeed(30);
        approach=1;
        setNoSense(40);        
      } 
      else if (approach==1) {
        myCar.setLeftSpeed(5);
        myCar.setRightSpeed(-5);
        setNoSense(30);
        approach=0;
      }
    }
    noSense--;
  }

approach is a class variable that allows you to indicate which settings you would like to employ.

setNoSense is a way to create a delay before the drive function determines another action. Basically actions are only taken when noSense is equal to 0.

In general you should use this template for your drive

class MyDrive extends DriveSystem{
  
  MyDrive(Car mCar) {
    super(mCar);
  }
  
  void drive() {
    //override me.
    if (noSense==0) {
      if (approach==0) {
        // Put some stuff here for what to do first.
        
        // setNoSense to make it so that state continues for some period of time
        setNoSense(40);        
      } 
      else if (approach==1) {
        // Put some stuff here for what to do at another time indicated by approach 0.
        
        // setNoSense to make it so that state continues for some period of time
        setNoSense(30);
        
      }
    }
    noSense--;
  }
}