fixes #35

rc-dukes · Jul 8, 2019 · 7e9685f · 7e9685f
1 parent 11aa971
commit 7e9685f
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Showing 5 changed files with 212 additions and 205 deletions.
diff --git a/rc-app/src/main/java/nl/vaneijndhoven/dukes/app/LaneDetectionApp.java b/rc-app/src/main/java/nl/vaneijndhoven/dukes/app/LaneDetectionApp.java
@@ -7,6 +7,8 @@
 import javafx.scene.Scene;
 import javafx.scene.layout.BorderPane;
 import javafx.stage.Stage;
+import nl.vaneijndhoven.dukes.common.Config;
+import nl.vaneijndhoven.dukes.common.Environment;
 
 /**
  * JavaFx Lane Detection App

diff --git a/rc-car/src/main/java/nl/vaneijndhoven/dukes/car/SteeringHandler.java b/rc-car/src/main/java/nl/vaneijndhoven/dukes/car/SteeringHandler.java
@@ -4,6 +4,7 @@
 import io.vertx.core.logging.Logger;
 import io.vertx.core.logging.LoggerFactory;
 import nl.vaneijndhoven.dukes.car.SteeringMap;
+import nl.vaneijndhoven.dukes.common.Config;
 import nl.vaneijndhoven.dukes.drivecontrol.Car;
 
 /**
@@ -83,17 +84,17 @@ void handleServo(JsonObject messageBody) {
 
     SteeringMap steeringMap = car.getSteering().getSteeringMap();
 
-    if ("left".equals(position)) {
+    if (Config.POSITION_LEFT.equals(position)) {
       currentWheelPosition = currentWheelPosition - steeringMap.stepSize();
       if (currentWheelPosition < steeringMap.maxLeft()) {
         currentWheelPosition = steeringMap.maxLeft();
       }
-    } else if ("right".equals(position)) {
+    } else if (Config.POSITION_RIGHT.equals(position)) {
       currentWheelPosition = currentWheelPosition + steeringMap.stepSize();
       if (currentWheelPosition > steeringMap.maxRight()) {
         currentWheelPosition = steeringMap.maxRight();
       }
-    } else if ("center".equals(position)) {
+    } else if (Config.POSITION_CENTER.equals(position)) {
       currentWheelPosition = steeringMap.center();
     }
     turnWrapper(currentWheelPosition);

diff --git a/rc-car/src/test/java/nl/vaneijndhoven/dukes/car/TestHandlers.java b/rc-car/src/test/java/nl/vaneijndhoven/dukes/car/TestHandlers.java
@@ -159,13 +159,13 @@ public void testSteeringHandler() throws Exception {
     SteeringHandler sh=new SteeringHandler(car);
     Steering steering = car.getSteering();
     JsonObject msg=new JsonObject();
-    msg.put("position","center");
+    msg.put("position",Config.POSITION_CENTER);
     sh.handleServo(msg);
     assertEquals(130,steering.getServo());
-    msg.put("position","left");
+    msg.put("position",Config.POSITION_RIGHT);
     sh.handleServo(msg);
     assertEquals(135,steering.getServo());
-    msg.put("position","left");
+    msg.put("position",Config.POSITION_LEFT);
     sh.handleServo(msg);
     assertEquals(140,steering.getServo());
     if (debug)

diff --git a/rc-common/src/main/java/nl/vaneijndhoven/dukes/common/Config.java b/rc-common/src/main/java/nl/vaneijndhoven/dukes/common/Config.java
@@ -48,6 +48,10 @@ public class Config {
   public static final String ENGINE_MAX_SPEED_REVERSE = "engine.max.speed.reverse";
   public static final String ENGINE_MIN_SPEED_FORWARD = "engine.min.speed.forward";
   public static final String ENGINE_MAX_SPEED_FORWARD = "engine.max.speed.forward";
+  // Commands
+  public static final String POSITION_LEFT = "left";
+  public static final String POSITION_RIGHT = "right";
+  public static final String POSITION_CENTER = "center";
 
   /**
    * configure the logging