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Added counter to count the number of time that a location is reported to

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be at the dest.

If this counter reaches 5, the robot will stop
This commit is contained in:
Ricky Barrette
2012-01-26 12:52:12 -05:00
parent 9f34ed410b
commit c539f7cad1
1 changed files with 12 additions and 4 deletions
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16
IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java
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@@ -63,6 +63,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
private TextView mLastUpdateTextView;
private long mLast;
private WakeLock mWakeLock;
private int mCount;
/**
* This thread will be used to update all the informational displays
@@ -181,6 +182,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
@Override
public void run(){
if(isRun){
mCount = 0;
mGoButton.setText(R.string.go);
isRunning = false;
updateLog(R.string.stop);
@@ -264,12 +266,18 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
*/
if(mPoint != null)
if(GeoUtils.isIntersecting(point, (float) (accuracy / 1E3), mPoint, Debug.RADIUS, Debug.FUDGE_FACTOR)) {
Log.v(TAG, "Dest Reached, Stopping");
mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
updateGoButton(true);
updateLog(R.string.dest_reached);
mCount++;
if(mCount > 5){
Log.v(TAG, "Dest Reached, Stopping");
mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
updateGoButton(true);
updateLog(R.string.dest_reached);
}
} else {
Log.v(TAG, "Driving Forward");
mCount = 0;
mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_FORWARD);
}
else{