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Preston_5564C07.fm Page 246 Monday, September 26, 2005 5:38 AM
246 CHAPTER 7 ■ NAVIGATION
double convFactor = 0.0; // this will be second/inches
switch (drive.getSpeed()) {
case 10:
convFactor = 1 / 4.0;
break;
case 20:
convFactor = 1 / 7.0;
break;
case DEFAULT_SPEED:
convFactor = 1 / 14.0;
break;
case 30:
convFactor = 1 / 20.0;
break;
}
// will return seconds
return (int) (inches * convFactor);
}
// surface rate when adjusting inches to seconds
private int getMillisecondsCarpet(double inches) {
double convFactor = 0.0; // this will be second/inches
switch (drive.getSpeed()) {
case 10:
convFactor = 1 / 16.0;
case 20:
convFactor = 1 / 36.0;
case 30:
convFactor = 1 / 48.0;
}
return (int) (inches * convFactor);
}
// call to stop since in case of emergency
public void stop() throws Exception {
drive.stop();
}
// move for multiple vectors
public void move(MotionVector[] path) throws Exception {
for (int i = 0; i < path.length; i++) {
move(path[i]);
}
}