Here is my code:

/*
Scott Landau
Robot Lab Assignment 1
*/    

// Standard Java Libs

import java.io.*;

// Player/Stage Libs

import javaclient2.*;
import javaclient2.structures.*;
import javaclient2.structures.sonar.*;

// Begin

public class SpinningRobot

{
    public static Position2DInterface pos = null;
    public static LaserInterface laser = null;

    public static void main(String[] args)
    {
        PlayerClient robot = new PlayerClient("localhost", 6665);
        laser = robot.requestInterfaceLaser(0, PlayerConstants.PLAYER_OPEN_MODE);
        pos = robot.requestInterfacePosition2D(0,PlayerConstants.PLAYER_OPEN_MODE);

        robot.runThreaded (-1, -1);

        pos.setSpeed(0.5f, -0.25f);

        // end pos
        float x, y;
        x = 46.0f;
        y = -46.0f;

        boolean done = false;

        while( !done ){

            if(laser.isDataReady()) { 

                float[] laser_data = laser.getData().getRanges();

                System.out.println("== IR Sensor ==");
                System.out.println("Left Wall Distance: "+laser_data[360]);
                System.out.println("Right Wall Distance: " +laser_data[0]);

                // if laser doesn't reach left wall, move to detect it
                // so we can guide using left wall
                if ( laser_data[360] < 0.6f ) {
                    while ( laser_data[360] < 0.6f ) {

                        pos.setSpeed(0.5f, -0.5f);
                    }
            } else if ( laser_data[0] < 0.6f ) {
                                                                                                   while(laser_data[0<0.6f)                                       {                                    pos.setSpeed(0.5f, 0.5f);
                                   }
            }
                pos.setSpeed(0.5f, -0.25f);



// end pos?
done = ( (pos.getX() == x) && (pos.getY() == y) );  
            }

        }

    }





} // End

I was trying to have the Roomba go continuously at a slight right curve, quickly turning away from each wall it came to close to if it recognized it with it's laser. I can only use laser_data[360] and laser_data[0] for this one robot. I think this would eventually navigate the maze.

However, I am using the Player Stage platform, and Stage freezes when the Roomba comes close to a wall using this code, I have no idea why.

Also, if you can think of a better maze navigation algorithm, please let me know.

Thank you!