public static void main(String[] args) throws Exception {
new RaceMain();
// Race
Settings.PILOT.setTravelSpeed(Settings.PILOT.getMaxTravelSpeed() * 0.70);
Settings.PILOT.setRotateSpeed(Settings.PILOT.getMaxRotateSpeed() / 4);
Motor.A.setSpeed(Motor.A.getMaxSpeed() / 5);
new SensorHeadCalibrate();
Settings.motorAAngle = Settings.SENSOR_RIGHT;
Settings.atStart = false;
new LightCalibrate();
Behavior b1 = new RaceFollowWall(13);
Behavior b2 = new Race();
Behavior b4 = new ReadCodes();
Behavior b3 = new RaceDrive();
Behavior b5 = new SensorHeadPosition();
Behavior b6 = new MotorAStall();
Behavior[] bArray = {b1, b2, b4, b3, b5, b6};
CustomArbitrator arbitrator = new CustomArbitrator(bArray);
Thread t = new Thread(arbitrator);
t.start();
}
/*
* This method makes the robot drive FRONT or BACK depending on the direction it is given.
*/
public void drive(Direction direction) {
if (direction == Direction.FRONT) {
Motor.A.forward();
Motor.B.forward();
} else if (direction == Direction.BACK) {
Motor.A.backward();
Motor.B.backward();
}
}
/**
* Stops the robot when the ultrasonic sensor detects a certain distance.
*
* @param stopDistance as long as the current distance is less than this stop distance, the robot
* will keep moving. Once the current distance is larger than the stop distance, the function
* returns.
* @return the current distance upon stopping.
*/
private boolean stopBeforeEdge() {
int currentDistance = 0;
int lightLevelReading;
int distanceToObject;
boolean edgeIsSafe = false;
do {
lightLevelReading = lightSensorDown.readValue();
Motor.A.rotate(centerToEdgeDistance, true);
Motor.C.rotate(centerToEdgeDistance, true);
} while ((lightLevelReading > BLACK_WHITE_THRESHOLD)
&& (Motor.A.isMoving() && Motor.C.isMoving()));
pilot.stop();
lightLevelReading = lightSensorDown.readValue();
/*
distanceToObject = ultrasonicSensor.getDistance();
if(distanceToObject < 20)
{
edgeIsSafe = true;
Motor.A.setSpeed(1000);
Motor.C.setSpeed(1000);
pilot.setRotateSpeed(1000);
pilot.travel(280);
Delay.msDelay(10000);
return(edgeIsSafe);
}
if(lightLevelReading < BLACK_WHITE_THRESHOLD)
{
System.out.println("Unsafe edge");
edgeIsSafe = false;
return(edgeIsSafe);
}
else if (lightLevelReading > BLACK_WHITE_THRESHOLD)
{
System.out.println("Safe edge");
edgeIsSafe = true;
safeEdgeCount++;
return(edgeIsSafe);
}
*/
return (edgeIsSafe);
}
/** Run. */
public void run() {
Motor.A.setSpeed(90);
Motor.C.setSpeed(90);
while (true) {
moveForward();
waitForReading();
Motor.A.backward();
Motor.C.backward();
Delay.msDelay(1000);
rotation(TURN_90_DEGREES, TURN_LEFT);
}
}
/**
* Main Entry Point. Creates the behaviors and starts the Arbitrator.
*
* @param args
*/
public static void main(String[] args) {
// Wall sensing behavior
Behavior b1 = new WallBehavior(SensorPort.S3);
// Move forward behavior
Behavior b2 = new ForwardBehavior();
// Left Light sensor sensing behavior
Behavior b3 = new LeftLightBehavior(SensorPort.S2, SensorPort.S1);
// Right Light sensor sensing behavior
Behavior b4 = new RightLightBehavior(SensorPort.S2, SensorPort.S1);
// Both Light sensors sensing behavior
Behavior b5 = new BothLightsBehavior(SensorPort.S2, SensorPort.S1);
// Win Behavior
Behavior b6 = new WinBehavior(SensorPort.S2, SensorPort.S1);
// Put the behaviors into the array based on priority
Behavior[] behaviorArray = {b2, b1, b3, b4, b5, b6};
// Create the arbitrator
Arbitrator arby = new Arbitrator(behaviorArray);
// Set the motor speeds
Motor.A.setSpeed(800);
Motor.C.setSpeed(800);
// Start
arby.start();
}
/*
* This method makes the robot turn 90 deg to the given direction
*/
public void turnNXT(Direction direction) {
if (direction == Direction.RIGHT) {
Motor.A.rotate(237);
} else if (direction == Direction.LEFT) {
Motor.B.rotate(237);
}
}
public static void main(String[] arguments) {
Motor.A.setSpeed(200);
Motor.B.setSpeed(200);
Motor.A.forward();
Motor.B.forward();
final LightSensor sensor = new LightSensor(SensorPort.S1);
final Object blocker = new Object();
while (true) {
if (sensor.readNormalizedValue() >= 512) {
LCD.bitBlt(
null,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
0,
0,
0,
0,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
LCD.ROP_CLEAR);
} else {
LCD.bitBlt(
null,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
0,
0,
0,
0,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
LCD.ROP_SET);
}
synchronized (blocker) {
try {
blocker.wait(100);
} catch (InterruptedException e) {
}
}
}
}
public static void main(String[] args) throws InterruptedException {
LightSensor left = new LightSensor(SensorPort.S3);
LightSensor right = new LightSensor(SensorPort.S4);
while (true) {
System.out.println("left: " + left.getLightValue());
System.out.println("right: " + right.getLightValue());
if (left.getLightValue() < 45 && right.getLightValue() < 45) {
Motor.A.stop();
Thread.sleep(1245);
} else if (left.getLightValue() < 45) {
Motor.B.stop();
} else if (right.getLightValue() < 45) {
Motor.A.stop();
} else {
Motor.A.backward();
Motor.B.backward();
}
}
}
private int waitForReading() {
int lightLevelReading;
int distanceToObject;
do {
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
}
lightLevelReading = lightSensorDown.readValue();
} while (lightLevelReading > BLACK_WHITE_THRESHOLD);
distanceToObject = ultrasonicSensor.getDistance();
if (distanceToObject < 20) {
Motor.A.setSpeed(1000);
Motor.C.setSpeed(1000);
pilot.travel(300);
Delay.msDelay(10000);
}
return (lightLevelReading);
}
// Decode msg method
public void decodeMSG(Byte msg) throws IOException {
// Motor Movement Functions
// int currentSpeedA = Motor.A.getSpeed();
// int currentSpeedB = Motor.B.getSpeed();
if (msg == MOVE_FOWARD) {
Motor.A.backward();
Motor.B.backward();
} else if (msg == MOVE_FOWARD_LEFT) {
Motor.A.backward();
Motor.B.setSpeed(motorSpeed / 2);
Motor.B.backward();
} else if (msg == MOVE_FOWARD_RIGHT) {
Motor.A.setSpeed(motorSpeed / 2);
Motor.A.backward();
Motor.B.backward();
} else if (msg == ROTATE_LEFT) {
Motor.A.backward();
Motor.B.forward();
} else if (msg == ROTATE_RIGHT) {
Motor.A.forward();
Motor.B.backward();
} else if (msg == MOVE_BACKWARD) {
Motor.A.forward();
Motor.B.forward();
} else if (msg == STOP) {
Motor.A.setSpeed(motorSpeed);
Motor.B.setSpeed(motorSpeed);
Motor.A.stop();
Motor.B.stop();
}
// Motor set Speed Function
if (msg == SET_MOTOR_SPD) {
Byte rMsg = 40;
rMsg = dis.readByte();
int spd = 9 * rMsg;
motorSpeed = spd;
Motor.A.setSpeed(spd);
Motor.B.setSpeed(spd);
}
if (msg == CUSTOM_MOVE) {
int motorB = dis.read();
int motorA = dis.read();
Motor.A.setSpeed(motorA * 9);
Motor.B.setSpeed(motorB * 9);
Motor.A.backward();
Motor.B.backward();
}
// Connection close msg
if (msg == CLOSE_COMM) {
closeBTConnection();
}
}
private void randomTurn() {
int rnd = (int) Math.round(Math.random() * (double) 4);
Motor.A.rotate(turnValue[rnd]);
}
/*
* This method makes the robot stop.
*/
public void stop() {
Motor.A.stop();
Motor.B.stop();
}
private void moveForward() {
Motor.A.forward();
Motor.C.forward();
}