public static void main(String[] args) throws InterruptedException {
// Wait for bluetooth/usb connection to computer.
RConsole.open();
int arenaLength = 200;
int arenaWidth = 150;
int cellSize = 25;
// Set up the world map.
// Length, width, cellHeight, cellWidth.
worldMap = new WorldMap(arenaLength, arenaWidth, cellSize, cellSize);
// Set up the robot and pass it the world map.
robot = new Robot(worldMap);
// Wait to start
System.out.println("Press any button to start");
Button.waitForAnyPress();
Output.clear();
BumperMonitor bm = new BumperMonitor(robot);
bm.start();
// Main robot loop.
// Keeps going till fully explored.
while (!robot.getMap().fullyExplored()) {
if (!Robot.takecontrol) {
// Print the map before every movement.
Output.printMapLCD(robot);
// Check for obstacles to the left, right and front of robot.
robot.checkSurroundings();
// Choose a direction to move in.
Robot.Direction directionChosen = robot.chooseACell();
// Turn in the chosen direction.
robot.turnRobotToFace(directionChosen);
// Move forwards.
robot.moveForwards();
}
}
// Print out the finished world map.
Output.println("Final world map");
Output.printMapLCD(robot);
/*
Wait before ending.
This is done because the world map kept not being
printed correctly for some reason and this fixes it.
*/
RConsole.println("\nPress any button to end.");
Button.waitForAnyPress();
RConsole.close();
}
public static void main(String[] args) throws InterruptedException {
OpticalDistanceSensor us = new OpticalDistanceSensor(SensorPort.S1);
final DifferentialPilot pilot =
new DifferentialPilot(
RobotConstants.WHEEL_DIAMETER / 10,
RobotConstants.TRACK_WIDTH / 10,
RobotConstants.leftMotor,
RobotConstants.rightMotor,
true);
final ColorSensor s = new ColorSensor(SensorPort.S3);
RConsole.openBluetooth(60000);
System.setOut(new PrintStream(RConsole.openOutputStream()));
// pilot.forward();
while (!Button.ENTER.isPressed()) {
System.out.println(s.getColorNumber());
Thread.sleep(300);
}
RConsole.close();
}