/**
   * Runs the calibration interface of the sensor. The interface allows to calibrate different axis
   * and to view, save and load calibration settings.
   */
  public void runCalibrationMenu() {
    int index = 0;
    String[] menuItems = {
      "X-axis", "Y-axis", "Z-axis", "Show settings", "Load settings", "Save settings"
    };
    TextMenu menu = new TextMenu(menuItems, 1, "Calibrate");
    while (true) {
      index = menu.select();
      switch (index) {
        case -1:
          return;
        case 0:
          calibrateAxis('X');
          break;
        case 1:
          calibrateAxis('Y');
          break;
        case 2:
          calibrateAxis('Z');
          break;
        case 3:
          showCalibrationSettings();
          break;
        case 4:
          this.load();
          break;
        case 5:
          this.save();

        default:
          break;
      }
    }
  }
Ejemplo n.º 2
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  public static void main(String[] args) throws Exception {
    String[] connectionStrings = new String[] {"Bluetooth", "USB", "RS485"};
    TextMenu connectionMenu = new TextMenu(connectionStrings, 0, "Connection");
    NXTCommConnector[] connectors = {
      Bluetooth.getConnector(), USB.getConnector(), RS485.getConnector()
    };

    int connectionType = connectionMenu.select();
    LCD.clear();
    LCD.clear();
    LCD.drawString("Type: " + connectionStrings[connectionType], 0, 0);
    LCD.drawString("Running...", 0, 1);
    Responder resp = new Responder(connectors[connectionType]);
    resp.start();
    resp.join();
    LCD.drawString("Closing...  ", 0, 1);
  }
Ejemplo n.º 3
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  public static void main(String[] args) throws Exception {
    RemoteNXT nxt = null;
    int power = 0;
    int mode = 1;
    int motor = 0;
    String motorString = "Motor:";
    String modeString = "Mode:";
    String powerString = "Power:";
    String batteryString = "Battery:";
    String lightString = "Light:";
    String tachoString = "Tacho:";

    // Get the type of communications to be used
    String[] connectionStrings = new String[] {"Bluetooth", "RS485"};
    TextMenu connectionMenu = new TextMenu(connectionStrings, 1, "Connection");
    NXTCommConnector[] connectors = {Bluetooth.getConnector(), RS485.getConnector()};

    int connectionType = connectionMenu.select();

    // Now connect
    try {
      LCD.clear();
      LCD.drawString("Connecting...", 0, 0);
      nxt = new RemoteNXT("NXT", connectors[connectionType]);
      LCD.clear();
      LCD.drawString("Type: " + connectionStrings[connectionType], 0, 0);
      LCD.drawString("Connected", 0, 1);
      Thread.sleep(2000);
    } catch (IOException ioe) {
      LCD.clear();
      LCD.drawString("Conn Failed", 0, 0);
      Thread.sleep(2000);
      System.exit(1);
    }

    LCD.clear();
    RemoteMotor[] motors = {nxt.A, nxt.B, nxt.C};
    LightSensor light = new LightSensor(nxt.S2);
    while (true) {
      // Get data from the remote NXT and display it
      LCD.drawString(motorString, 0, 0);
      LCD.drawInt(motor, 3, 10, 0);
      LCD.drawString(powerString, 0, 1);
      LCD.drawInt(power, 3, 10, 1);
      LCD.drawString(modeString, 0, 2);
      LCD.drawInt(mode, 3, 10, 2);
      LCD.drawString(tachoString, 0, 3);
      LCD.drawInt(motors[motor].getTachoCount(), 6, 7, 3);
      LCD.drawString(batteryString, 0, 4);
      LCD.drawInt(nxt.Battery.getVoltageMilliVolt(), 6, 7, 4);
      LCD.drawString(lightString, 0, 5);
      LCD.drawInt(light.readValue(), 6, 7, 5);
      LCD.drawString(nxt.getBrickName(), 0, 6);
      LCD.drawString(nxt.getFirmwareVersion(), 0, 7);
      LCD.drawString(nxt.getProtocolVersion(), 4, 7);
      LCD.drawInt(nxt.getFlashMemory(), 6, 8, 7);

      // Do we have a button press?
      int key = Button.readButtons();
      if (key != 0) {
        // New command, work out what to do.
        if (key == 1) { // ENTER
          power += 20;
          if (power > 100) power = 0;
        } else if (key == 2) { // LEFT
          mode++;
          if (mode > 4) mode = 1;
        } else if (key == 4) { // RIGHT
          motor++;
          if (motor > 2) motor = 0;
        } else if (key == 8) { // ESCAPE
          LCD.clear();
          LCD.drawString("Closing...", 0, 0);
          for (int i = 0; i < motors.length; i++) motors[i].flt();
          nxt.close();
          Thread.sleep(2000);
          System.exit(0);
        }

        LCD.clear();
        LCD.drawString("Setting power", 0, 0);
        motors[motor].setPower(power);
        LCD.drawString("Moving motor", 0, 1);
        if (mode == 1) motors[motor].forward();
        else if (mode == 2) motors[motor].backward();
        else if (mode == 3) motors[motor].flt();
        else if (mode == 4) motors[motor].stop();
        // Wait for the button to be released...
        while (Button.readButtons() != 0) Thread.yield();
        LCD.clear();
      }
    }
  }