Motor recuperarMotor() {
Motor m = new Motor();
m.fabricante = "GM";
m.numMarcha = 5;
m.potencia = 2;
return m;
}
public void setSpeed(OutputStream out, byte[] buf, int len) {
int leftSign = 1;
int rightSign = 1;
int p = 2;
if (buf[p] == '-') { // if input is '-', move right one place
leftSign = -1;
p++;
}
int leftPwr = 0;
while ('0' <= buf[p] && buf[p] <= '9')
leftPwr = leftPwr * 10 + (buf[p++] - '0'); // accumulate the decimal value
if (leftPwr > H_MAX_POWER) leftPwr = H_MAX_POWER; // stay in range
leftPwr = leftSign * leftPwr;
// assert(buf[p] == ',');
p++;
if (buf[p] == '-') {
rightSign = -1;
p++;
}
int rightPwr = 0;
while ('0' <= buf[p] && buf[p] <= '9') rightPwr = rightPwr * 10 + (buf[p++] - '0');
if (rightPwr > H_MAX_POWER) rightPwr = H_MAX_POWER; // stay in range
rightPwr = rightSign * rightPwr;
// assert(buf[p] == 0); // the buffer is null-terminated
p++;
leftMotor.setPower((leftPwr * 16) / H_MAX_POWER);
rightMotor.setPower((rightPwr * 16) / H_MAX_POWER);
writeCRLF(out, "d");
}
public static void main(String[] args) {
LoggingFactory.getInstance().configure();
LoggingFactory.getInstance().setLevel(Level.DEBUG);
try {
// FIXME !!! - don't use Adafruit's library - do your own stepper control through "pure"
// MRLComm.ino
AdafruitMotorShield fruity =
(AdafruitMotorShield) Runtime.createAndStart("fruity", "AdafruitMotorShield");
Runtime.createAndStart("gui01", "GUIService");
fruity.connect("COM3");
Motor motor1 = fruity.createDCMotor(4);
motor1.move(0.4f);
// create a 200 step stepper on adafruitsheild port 1
Stepper stepper1 = fruity.createStepper(200, 1);
// FIXME - needs to be cleaned up - tear down
fruity.releaseStepper(stepper1.getName());
// Runtime.createAndStart("python", "Python");
} catch (Exception e) {
Logging.logError(e);
}
}
public void releaseDCMotor(String motorName) {
if (!motors.containsKey(motorName)) {
error("motor %s does not exist", motorName);
}
Motor m = motors.remove(motorName);
m.releaseService();
deviceNameToNumber.remove(motorName);
}
@Test
public void testSetMotorPosition() {
try {
motor.setPosition(1.0);
} catch (MotorPositionOutOfBounds e) {
fail("The motor attempted to move out of bounds");
}
assertEquals(1.0, motor.getPostion(), 0.001);
}
public void move() {
if (last_move_time == null || last_move_time.doubleValue() < world.time) {
last_move_time = new Double(world.time);
double max_dist, dist_right, dist_left, theta, x, y, dist_diff;
double delta_theta, turn_radius, new_theta, new_x, new_y;
Location location;
Orientation orientation;
orientation = orientation();
location = location();
max_dist = max_speed / world.ticks_per_second;
dist_right = right_motor.output() * max_dist;
dist_left = left_motor.output() * max_dist;
theta = orientation.theta;
x = location.x;
y = location.y;
old_location.x = x;
old_location.y = y;
dist_diff = dist_right - dist_left;
// System.out.println("dist_diff: " + dist_diff);
delta_theta = dist_diff / wheel_base;
if (Math.abs(dist_diff) < .0001) {
turn_radius = 0.0;
} else {
turn_radius = (dist_right / delta_theta) - (wheel_base / 2);
}
// System.out.println("turn_radius: " + turn_radius);
new_theta = theta + delta_theta;
if (turn_radius == 0.0) {
// System.out.println("turn_radius == 0");
new_x = x + Math.cos(theta) * dist_left;
new_y = y + Math.sin(theta) * dist_left;
} else {
// System.out.println("new_theta= " + new_theta + " theta= " + theta);
new_x = x + ((Math.sin(new_theta) - Math.sin(theta)) * turn_radius);
new_y = y - ((Math.cos(new_theta) - Math.cos(theta)) * turn_radius);
}
orientation.theta = new_theta;
location.x = new_x;
location.y = new_y;
maybe_fire_guns();
}
}
/**
* creates a DC Motor on port 1,2,3, or 4
*
* @param motorNum
* @throws Exception
*/
public Motor createDCMotor(Integer motorNum) throws Exception {
if (motorNum == null || motorNum < 1 || motorNum > 4) {
error(String.format("motor number should be 1,2,3,4 not %d", motorNum));
return null;
}
String motorName = String.format("%s_m%d", getName(), motorNum);
deviceNameToNumber.put(motorName, motorNum);
Motor m = new Motor(motorName);
m.startService();
motors.put(motorName, m);
m.broadcastState();
m.setController(this);
return m;
}
@Override
public boolean motorAttach(
String motorName, String type, Integer pwrPin, Integer dirPin, Integer encoderPin) {
ServiceInterface sw = Runtime.getService(motorName);
if (!sw.isLocal()) {
error("motor needs to be in same instance of mrl as controller");
return false;
}
Motor m = (Motor) sw;
m.setController(this);
m.broadcastState();
return true;
}
public void run() {
motor_left.resetTachoCount();
motor_left.regulateSpeed(true);
Movement.motor_left.smoothAcceleration(true);
int previousCommandCount = -1;
while (true) {
if (Movement.getCommandCount() == previousCommandCount) {
try {
Thread.sleep(10);
} catch (InterruptedException e) {
}
continue;
}
previousCommandCount = Movement.getCommandCount();
setToAngle(ControlCentre.getTargetSteeringAngleLeft());
int new_angle = getToAngle();
if (new_angle < 10) LCD.drawString(" ", 8, 1);
else if (new_angle < 100) LCD.drawString(" ", 9, 1);
LCD.drawString(Integer.toString(new_angle), 7, 1);
LCD.drawString("R", 11, 1);
int cur_angle = getCurrentSteeringAngle();
double delta = new_angle - cur_angle;
final double C = Movement.rotConstant;
double turn_angle = 0;
if (Math.abs(delta) < thresholdAngle / 2.0) {
continue;
} else if (Math.abs(delta) >= thresholdAngle / 2.0 && Math.abs(delta) < thresholdAngle) {
delta = thresholdAngle * delta / Math.abs(delta);
}
setCurrentSteeringAngle((int) (cur_angle + delta) % 360);
if (delta != 0 && Math.abs(delta) < 180) {
turn_angle = C * delta;
} else if (delta >= 180 && delta < 360) {
turn_angle = -C * (360 - delta);
} else if (delta <= -180) {
turn_angle = C * (360 + delta);
} else {
/* No turning needed */
continue;
}
motor_left.rotate((int) Math.round(turn_angle));
}
}
// Give a number to a arriving plane
public int registerNewAproache(Airport a) {
this.planeList.add(new Plane(Motor.getNowDate()));
planeWaitingToLand = true;
a.getTrack().setDelayToLand();
int id = planeList.get(planeList.size() - 1).setId(planeList.size() - 1);
return id;
}
public LegoNxtMotorActionBrick(Sprite sprite, Motor motor, int speedValue) {
this.sprite = sprite;
this.motorEnum = motor;
this.motor = motorEnum.name();
this.speed = new Formula(speedValue);
}
public LegoNxtMotorActionBrick(Sprite sprite, Motor motor, Formula speedFormula) {
this.sprite = sprite;
this.motorEnum = motor;
this.motor = motorEnum.name();
this.speed = speedFormula;
}
@Test
public void testSetMotorPositionMin() {
try {
motor.setPosition(0.0);
} catch (MotorPositionOutOfBounds e) {
fail("The motor attempted to move out of bounds");
}
}
public static boolean randomPlaneArriver() {
if (Motor.getNowDate().getHours() < 22 && Motor.getNowDate().getHours() >= 7) {
if (Motor.isWeekend()) {
// random com media de 40 minutos
if (new Random().nextInt(40) == 20) {
return true;
} else {
return false;
}
} else {
if ((Motor.getNowDate().getHours() >= 7 && Motor.getNowDate().getHours() < 10)
|| (Motor.getNowDate().getHours() >= 17 && Motor.getNowDate().getHours() < 19)) {
// random com media de 10 minutos
if (new Random().nextInt(10) == 5) {
return true;
} else {
return false;
}
} else {
// random com media de 20 minutos
if (new Random().nextInt(20) == 10) {
return true;
} else {
return false;
}
}
}
}
return false;
}
public static void main(String[] args) {
Leds.set(Leds.WHITE);
Display.clear();
Display.gotoXY(0, 0);
Display.print("Motor Test");
WheelEncoder.setEnabled(true);
DistanceSensor.setEnabled(true);
int val = 0;
int inc = 1;
while (true) {
DistanceSensor.updateLeft();
DistanceSensor.updateRight();
Motor.setLeft(val);
Motor.setRight(val);
Display.gotoXY(0, 1);
Display.print("Val=" + val + " ");
Display.gotoXY(0, 2);
Display.print(
"enc l=" + WheelEncoder.getLeftInc() + " r=" + WheelEncoder.getRightInc() + " ");
Display.gotoXY(0, 3);
Display.print(
"dist l=" + DistanceSensor.getLeft() + " r=" + DistanceSensor.getRight() + " ");
val += inc;
if (val > 500) {
val = 500;
inc = -1;
Leds.set(Leds.RED);
}
if (val < -500) {
val = -500;
inc = 1;
Leds.set(Leds.WHITE);
}
Clock.delayMilliseconds(5);
}
}
public static void main(String[] args) {
Scanner sc = new Scanner(System.in);
System.out.println("업체 : ");
String vendorName = sc.nextLine();
VendorID vendorID;
if (vendorName.equalsIgnoreCase("LG")) vendorID = VendorID.LG;
else // if(vendorName.equalsIgnoreCase("HYUNDAI"))
vendorID = VendorID.HYUNDAI;
ElevatorFactory factory = ElevatorFactoryFactory.getFactory(vendorID);
Door door = factory.createDoor();
Motor motor = factory.createMotor();
motor.setDoor(door);
door.open();
motor.move(Direction.UP);
}
@Test
public void testSetMotorPositoinDoesntGoOutOfBunds() {
boolean outOfBounds = false;
try {
motor.setPosition(1.1);
} catch (MotorPositionOutOfBounds e) {
outOfBounds = true;
}
assertTrue(outOfBounds);
outOfBounds = false;
try {
motor.setPosition(-0.1);
} catch (MotorPositionOutOfBounds e) {
outOfBounds = true;
}
assertTrue(outOfBounds);
}
@Test
public void testWheels() throws Exception {
Car car = new Car();
car.setInsured(InsuranceType.HUS);
Motor motor = new Motor();
motor.setCcm(200);
car.setMotor(motor);
car.setRegistered(DateUtils.addDays(new Date(), 10));
car.setLength(2000);
Wheel leftFrontWheel = new Wheel();
leftFrontWheel.setPosition("LEFT_FRONT");
leftFrontWheel.setDiameter(10);
car.addWheel(leftFrontWheel);
Set<ConstraintViolation<Car>> violations = CustomVehicleTest.validator.validate(car);
for (ConstraintViolation<Car> constraintViolation : violations) {
System.out.println(
constraintViolation.getPropertyPath() + ", " + constraintViolation.getMessage());
}
}
public static void main(String[] args) throws IOException {
Airport a = new Airport();
Motor.setStartDate();
try {
CsvManager.csvManagerInit();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
System.out.println("Error to initiate Csv Manager");
}
for (int i = 0; i < 3 * 30 * 24 * 60; i++) {
// Step up the system
Motor.stepUp();
// add new plane
if (randomPlaneArriver()) {
int planeNumber = a.getTower().registerNewAproache(a);
a.getTower().addToLandList(planeNumber);
System.out.println("Plane P" + planeNumber + " is waiting to land");
}
a.getTrack().handler(a);
a.getTaxiways()[Taxiway.TAXIWAY_ARRIVE].handler(a);
a.getTaxiways()[Taxiway.TAXIWAY_LEAVE].handler(a);
for (int j = 0; j < a.getGates().length; j++) {
a.getGates()[j].handler(a);
}
System.out.println(" ");
}
for (int i = 0; i < a.getTower().planeList.size(); i++) {
a.getTower().getPlaneById(i).writeLog();
}
Measure.getRet().printAll();
Measure.getFreq().printFreqLog();
}
@Override
public View getPrototypeView(Context context) {
View prototypeView = View.inflate(context, R.layout.brick_phiro_motor_stop, null);
Spinner phiroProSpinner =
(Spinner) prototypeView.findViewById(R.id.brick_phiro_stop_motor_spinner);
phiroProSpinner.setFocusableInTouchMode(false);
phiroProSpinner.setFocusable(false);
ArrayAdapter<CharSequence> motorAdapter =
ArrayAdapter.createFromResource(
context, R.array.brick_phiro_stop_motor_spinner, android.R.layout.simple_spinner_item);
motorAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
phiroProSpinner.setAdapter(motorAdapter);
phiroProSpinner.setSelection(motorEnum.ordinal());
return prototypeView;
}
@Override
public View getPrototypeView(Context context) {
prototypeView = View.inflate(context, R.layout.brick_nxt_motor_action, null);
TextView textSpeed = (TextView) prototypeView.findViewById(R.id.motor_action_speed_text_view);
textSpeed.setText(String.valueOf(speed.interpretInteger(sprite)));
Spinner legoSpinner = (Spinner) prototypeView.findViewById(R.id.lego_motor_action_spinner);
legoSpinner.setFocusableInTouchMode(false);
legoSpinner.setFocusable(false);
ArrayAdapter<CharSequence> motorAdapter =
ArrayAdapter.createFromResource(
context, R.array.nxt_motor_chooser, android.R.layout.simple_spinner_item);
motorAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
legoSpinner.setAdapter(motorAdapter);
legoSpinner.setSelection(motorEnum.ordinal());
return prototypeView;
}
@Override
public View getView(Context context, int brickId, BaseAdapter baseAdapter) {
if (animationState) {
return view;
}
if (view == null) {
alphaValue = 255;
}
view = View.inflate(context, R.layout.brick_nxt_motor_stop, null);
view = getViewWithAlpha(alphaValue);
setCheckboxView(R.id.brick_nxt_motor_stop_checkbox);
final Brick brickInstance = this;
checkbox.setOnCheckedChangeListener(
new OnCheckedChangeListener() {
@Override
public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
checked = isChecked;
adapter.handleCheck(brickInstance, isChecked);
}
});
ArrayAdapter<CharSequence> motorAdapter =
ArrayAdapter.createFromResource(
context, R.array.nxt_stop_motor_chooser, android.R.layout.simple_spinner_item);
motorAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
Spinner motorSpinner = (Spinner) view.findViewById(R.id.stop_motor_spinner);
motorSpinner.setOnItemSelectedListener(this);
if (!(checkbox.getVisibility() == View.VISIBLE)) {
motorSpinner.setClickable(true);
motorSpinner.setEnabled(true);
} else {
motorSpinner.setClickable(false);
motorSpinner.setEnabled(false);
}
motorSpinner.setAdapter(motorAdapter);
motorSpinner.setSelection(motorEnum.ordinal());
return view;
}
public void stop() {
motor.brake();
}
public LegoNxtMotorStopBrick(Sprite sprite, Motor motor) {
this.sprite = sprite;
this.motorEnum = motor;
this.motor = motorEnum.name();
}
@Test
public void testGetMotorPosition() {
assertEquals(0.0, motor.getPostion(), 0.001);
}
public void increaseSpeed(int value) {
motor.accelerate(value);
}
public int getSpeed() {
return motor.getRpm();
}
protected Object readResolve() {
if (motor != null) {
motorEnum = Motor.valueOf(motor);
}
return this;
}
@Override
public View getView(Context context, int brickId, BaseAdapter baseAdapter) {
if (animationState) {
return view;
}
if (view == null) {
alphaValue = 255;
}
view = View.inflate(context, R.layout.brick_nxt_motor_action, null);
view = getViewWithAlpha(alphaValue);
setCheckboxView(R.id.brick_nxt_motor_action_checkbox);
final Brick brickInstance = this;
checkbox.setOnCheckedChangeListener(
new OnCheckedChangeListener() {
@Override
public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
checked = isChecked;
adapter.handleCheck(brickInstance, isChecked);
}
});
TextView textSpeed = (TextView) view.findViewById(R.id.motor_action_speed_text_view);
editSpeed = (EditText) view.findViewById(R.id.motor_action_speed_edit_text);
speed.setTextFieldId(R.id.motor_action_speed_edit_text);
speed.refreshTextField(view);
textSpeed.setVisibility(View.GONE);
editSpeed.setVisibility(View.VISIBLE);
editSpeed.setOnClickListener(this);
ArrayAdapter<CharSequence> motorAdapter =
ArrayAdapter.createFromResource(
context, R.array.nxt_motor_chooser, android.R.layout.simple_spinner_item);
motorAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
Spinner motorSpinner = (Spinner) view.findViewById(R.id.lego_motor_action_spinner);
if (!(checkbox.getVisibility() == View.VISIBLE)) {
motorSpinner.setClickable(true);
motorSpinner.setEnabled(true);
} else {
motorSpinner.setClickable(false);
motorSpinner.setEnabled(false);
}
motorSpinner.setAdapter(motorAdapter);
motorSpinner.setOnItemSelectedListener(
new OnItemSelectedListener() {
@Override
public void onItemSelected(AdapterView<?> arg0, View arg1, int position, long arg3) {
motorEnum = Motor.values()[position];
motor = motorEnum.name();
adapterView = arg0;
}
@Override
public void onNothingSelected(AdapterView<?> arg0) {
// TODO Auto-generated method stub
}
});
motorSpinner.setSelection(motorEnum.ordinal());
return view;
}
public static void main(String[] args) {
System.out.println("Início do Programa ...");
// Instanciando Iates
System.out.println("Criando Iates ...");
Iate a = new Iate(1);
Iate b = new Iate("Marca_b");
Iate c = new Iate("Marca_c", "Modelo_c");
Iate d = new Iate("Marca_d", "Modelo_d", 1);
Iate e = new Iate("Marca_e", "Modelo_e", 1, 1.0);
// Métodos
b.setMarca("Marca_b");
b.getMarca();
c.setModelo("Modelo_c");
c.getModelo();
d.setNumeropassageiros(100);
d.getNumeropassageiros();
e.setPreco(450.0);
e.getPreco();
b.setVelocidademaxima(300);
b.getVelocidademaxima();
c.setIdentificacao("Identificacao_a");
c.getIdentificacao();
// MODIFICAR: INSERÇÃO DO CADASTRO DO MOTOR
Motor mot = new Motor();
mot.setMarca("Marca_mot");
mot.getMarca();
mot.setModelo("Modelo_mot");
mot.getModelo();
mot.setPotencia(450);
mot.getPotencia();
mot.setTipocombustivel("gasolina");
mot.getTipocombustivel();
mot.setRpmmaxima(400);
mot.getRpmmaxima();
mot.setRpm(200);
mot.getRpm();
// Outros Métodos
mot.cadastrar();
mot.imprimir();
mot.acelerar();
mot.acelerar();
mot.desacelerar();
b.setMotor(mot);
b.getMotor();
c.setNumerotripulantes(900);
c.getNumerotripulantes();
d.setNumerocabines(45);
d.getNumerocabines();
e.setPiscina(true);
e.isPiscina();
// MODIFICAR: INSERÇÃO DO CADASTRO DO MOTOR
Motor mot2 = new Motor();
mot2.cadastrar();
mot2.imprimir();
a.setMotor2(mot2);
a.getMotor2();
a.cadastrar();
a.imprimir();
a.valorDesconto();
a.pessoasPorCabine();
// Instanciando Lanchas
System.out.println("Criando Lanchas ...");
Lancha l = new Lancha(1);
Lancha m = new Lancha("Marca");
Lancha n = new Lancha("Marca", "Modelo");
Lancha o = new Lancha("Marca", "Modelo", 1);
Lancha p = new Lancha("Marca", "Modelo", 1, 1.0);
// Métodos
m.setMarca("Marca_m");
m.getMarca();
n.setModelo("Modelo_n");
n.getModelo();
o.setNumeropassageiros(100);
o.getNumeropassageiros();
p.setPreco(450.0);
p.getPreco();
m.setVelocidademaxima(300);
m.getVelocidademaxima();
n.setIdentificacao("Identificacao_a");
n.getIdentificacao();
// MODIFICAR: INSERÇÃO DO CADASTRO DO MOTOR
Motor mot3 = new Motor();
mot3.cadastrar();
mot3.imprimir();
mot.acelerar();
o.setMotor(mot3);
o.getMotor();
p.getTipocasco();
p.setTipocasco(40028922);
m.isBanheiro();
m.setBanheiro(true);
l.cadastrar();
l.imprimir();
l.valorDesconto();
System.out.println("Fim do Programa ...");
}
