/* Dexter Travis Bradley University 2001/2002 Senior Project Botdock http://pioneer1.bradley.edu http://cegt201.bradley.edu/projects/proj2002/botdock/ */ //***************************************************/ //this class will implement all of the finding and //localization for the web controlled robot. //Dexter Travis //initial creation: Feb 7 2002 //Autonomous Recharging system for Web robotics //***************************************************/ import java.io.*; import java.net.*; import java.lang.*; import java.util.*; class find { public static int count = 0; //create a new stack object. private static Stack findstack = new Stack(); public static void start() { push("end"); } //all pushes will come through find.push rather then direct //this way all find related activity is done in this class public static void push(String movement) { StringTokenizer mov = new StringTokenizer(movement, " ", false); String inversemove = new String(mov.nextToken()); String secondtoken = new String(mov.nextToken()); Float Fparameter = new Float(secondtoken); float fparameter = Fparameter.floatValue(); fparameter = fparameter * (-1); inversemove.concat(" " +fparameter); findstack.push(inversemove); } private static String pop() { String popvalue = new String((findstack.pop()).toString()); return(popvalue); } public static boolean find() { //reverse the stack operations. String stackelement = new String(pop()); while(findstack.empty() == false) { if(stackelement.equals("end")) { return(true); } else { embeddedinterface.move(stackelement); stackelement = pop(); } } return(false); } }