public int getFastMeasurement() {
sensor.ping();
for (int i = 0; i < ECHOS; i++) m_iMeasured[i] = -1;
sensor.getDistances(m_iMeasured);
// int count = ECHOS,
// sum = 0;
// for(int i = 0; i < ECHOS; i++)
// if(m_iMeasured[i] == -1)
// count--;
// else
// sum += m_iMeasured[i];
//
// int avg = sum / count;
//
// LCD.clear();
// LCD.drawString("measurements:", 0, 0);
// LCD.drawString(m_iMeasured[0] + " " + m_iMeasured[1] + " " + m_iMeasured[2] + " " +
// m_iMeasured[3], 0, 1);
// LCD.drawString(m_iMeasured[4] + " " + m_iMeasured[5] + " " + m_iMeasured[6] + " " +
// m_iMeasured[7], 0, 2);
// LCD.drawInt(avg, 0, 3);
// Button.waitForAnyPress();
return m_iMeasured[0];
}
/**
* Reads data from the ultrasonic sensor and filters it to prevent false 255 values
*
* @return The filtered data
*/
private int getFilteredData() {
int distance;
// do a ping
us.ping();
// wait for the ping to complete
try {
Thread.sleep(50);
} catch (InterruptedException e) {
}
// there will be a delay here
distance = us.getDistance();
if (minDistance > distance) {
minDistance = distance;
}
if (distance > 55) {
distance = 55;
}
if (distance > 255) {
distance = 255;
}
return distance;
}
@Override
public void run() {
int[] is = new int[8];
us.setMode(UltrasonicSensor.MODE_PING);
while (true) {
int i = us.ping();
if (i < 0) {
continue;
}
i = us.getDistances(is);
if (i < 0) {
continue;
}
}
}
public DistanceMeasure() {
ultrasonicSensor = new UltrasonicSensor(SensorPort.S1);
while (true) {
System.out.println("Distance: " + ultrasonicSensor.getDistance());
}
}
public static void main(String[] args) {
LightSensor light = new LightSensor(SensorPort.S1);
SoundSensor sound = new SoundSensor(SensorPort.S2);
TouchSensor touch = new TouchSensor(SensorPort.S3);
UltrasonicSensor sonic = new UltrasonicSensor(SensorPort.S4);
while (sound.readValue() < 90) {
System.out.println("light = " + light.readValue());
System.out.println("sound = " + sound.readValue());
System.out.println("touch = " + touch.isPressed());
System.out.println("distance = " + sonic.getDistance());
try {
Thread.sleep(1000);
} catch (InterruptedException ie) {
}
}
}
/**
* The default constructor
*
* @param odo The robot's odometer
* @param us The robot's left ultrasonic sensor
*/
public USLocalizer(Odometer odo, UltrasonicSensor us1, UltrasonicSensor us2, Transmission t) {
this.odo = odo;
this.us = us1;
this.nav = new Navigation(odo, us1, us2, t);
// switch off the ultrasonic sensor
us.off();
}
/** The robot moves along the Wall and turns to the right, if the wall is too far away. */
@Override
public void action() {
suppressed = false;
Settings.motorAAngle = Settings.SENSOR_RIGHT;
while (!suppressed
&& !((Settings.TOUCH_L.isPressed() || Settings.TOUCH_R.isPressed()))
&& Settings.LIGHT.getLightValue() < 80) {
if (sonic.getDistance() > (distanceToWall + 10)) {
pilot.arc(-15, -90, true);
} else if (sonic.getDistance() <= distanceToWall) {
pilot.arc(40, 20, true);
} else if (sonic.getDistance() > distanceToWall) {
pilot.arc(-60, -20, true);
}
}
if (Settings.LIGHT.getLightValue() >= 80) {
pilot.stop();
System.out.println("LINE Detected");
Settings.afterSlider = true;
Settings.motorAAngle = Settings.SENSOR_FRONT;
Settings.PILOT.setTravelSpeed(Settings.PILOT.getMaxTravelSpeed() * 0.15);
}
}
public static void Sonarflag() {
// execute all actions of this state
LCD.drawString("Sonarflag", 0, 3);
Sound.beep();
btThread.write(sonar.getDistance()); // sends the data from the sonar
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((true)) {
current = State.WATCH;
transitionTaken = true;
}
}
}
public static void Watch() {
// execute all actions of this state
LCD.drawString("Watch", 0, 3);
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((sonar.getDistance() <= 10)) {
current = State.SONARFLAG;
transitionTaken = true;
} else if ((lejos.robotics.Color.RED == colorsens.getColorID())
|| (lejos.robotics.Color.BLUE == colorsens.getColorID())
|| (lejos.robotics.Color.GREEN == colorsens.getColorID())) {
current = State.COLORFLAG;
transitionTaken = true;
}
}
}
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);
}
public boolean takeControl() {
int distance = sonar.getDistance();
return (distance > floorDistance);
}
public void action() {
LCD.clear();
LCD.drawInt(sonar.getDistance(), 0, 0);
LCD.refresh();
}
public UltrasonicControl(SensorPort port) {
sensor = new UltrasonicSensor(port);
sensor.ping();
}
