Ejemplo n.º 1
0
  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();
  }
Ejemplo n.º 2
0
  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();
  }