public static void main(String... args) throws InterruptedException {
init();
long lastVictimTime = 0;
while (true) {
RawColor color = colors.getSensorColor(robot.colorSensor);
if ((color == colors.silver || color == colors.green)
&& System.currentTimeMillis() - lastVictimTime > 2500) {
synchronized (robot.pilot) {
robot.pilot.stop();
robot.showVictimFound();
lastVictimTime = System.currentTimeMillis();
robot.pilot.travel(5);
findline();
}
} else if (color == colors.white || color == colors.black) {
synchronized (robot.pilot) {
int[] sensors = robot.lineSensor.getSensors();
if (sensors != null) {
int leftspeed = calcLeftSpeed(sensors);
int rightspeed = calcRightSpeed(sensors);
robot.pilot.setLeftSpeed(leftspeed);
robot.pilot.setRightSpeed(rightspeed);
}
}
}
Thread.sleep(50);
}
}
/** Main entry to the program. */
public static void main(String[] args) {
RemoteControl remote = new RemoteControl();
RemoteDevice racecar = Bluetooth.getKnownDevice("Batmobile");
if (racecar == null) {
System.out.println("No Such device existed");
System.exit(1);
}
BTConnection racecarConnection = Bluetooth.connect(racecar);
if (racecarConnection == null) {
System.out.println("Connection Failed");
System.exit(1);
} else {
System.out.println("Connected to Racecar");
}
DataOutputStream dos = racecarConnection.openDataOutputStream();
try {
System.out.println("Sending controller signal");
dos.writeInt(CONTROLLER_DEVICE);
dos.flush();
System.out.println("Sent Controller signal");
} catch (Exception ex) {
// Do nothing
}
remote.setRacecarConnection(racecarConnection);
remote.setRacecarOutputStream(dos);
// Waiting for flag to set us off here
System.out.println("Waiting for Flag connection");
NXTConnection flagConnection = Bluetooth.waitForConnection();
System.out.println("Connected to flag");
DataInputStream dis = flagConnection.openDataInputStream();
try {
int check = dis.readInt();
if (check == FLAG_SIGNAL) {
System.out.println("Recived flag signal");
dos.writeInt(FLAG_SIGNAL);
dos.flush();
System.out.println("sent flag signal to racecar");
dis.close();
remote.run();
} else {
System.out.println("Did not recieve flag connection");
}
} catch (Exception e) {
}
}
public static void main(String[] args) {
/*
* Wait for startup button press
* Button.ID_LEFT = BangBang Type
* Button.ID_RIGHT = P Type
*/
int option = 0;
Printer.printMainMenu();
while (option == 0)
// option = Button.waitForPress();
option = Button.waitForAnyPress();
// depends on version
// Setup controller objects
BangBangController bangbang =
new BangBangController(bandCenter, bandWidth, motorLow, motorHigh);
PController p = new PController(bandCenter, bandWidth);
// Setup ultrasonic sensor
UltrasonicSensor usSensor = new UltrasonicSensor(usPort);
// Setup Printer
Printer printer = null;
// Setup Ultrasonic Poller
UltrasonicPoller usPoller = null;
switch (option) {
case Button.ID_LEFT:
usPoller = new UltrasonicPoller(usSensor, bangbang);
printer = new Printer(option, bangbang);
break;
case Button.ID_RIGHT:
usPoller = new UltrasonicPoller(usSensor, p);
printer = new Printer(option, p);
break;
default:
System.out.println("Error - invalid button");
System.exit(-1);
break;
}
usPoller.start();
printer.start();
// Wait for another button press to exit
// Button.waitForPress();
Button.waitForAnyPress();
// depends on version
System.exit(0);
}
static void init() throws InterruptedException {
Sound.beep();
try {
File f = new File("CalibrationData.dat");
FileInputStream is = new FileInputStream(f);
colors = RescueColors.readObject(is);
is.close();
LCD.drawString("File read", 0, 0);
LCD.drawString("sucessfully", 0, 0);
} catch (IOException e) {
LCD.drawString("Error reading", 0, 0);
LCD.drawString("file", 0, 1);
Thread.sleep(1000);
System.exit(-1);
}
colors.printToLCD();
robot = new RescueRobot(colors);
Button.ENTER.waitForPressAndRelease();
logger = new MovementLogger(robot);
Thread t = new Thread(logger);
t.setDaemon(true);
t.start();
}
public static void main(String[] args) {
LCD.drawString(appName, 0, 0);
LCD.drawString("#################", 0, 2);
LCD.drawString("#################", 0, 6);
msc = new MSC(SensorPort.S1);
// Set to initial angle
msc.servo1.setAngle(90);
int angle = 0;
int pulse = 0;
int NXTServoBattery = 0;
while (!Button.ESCAPE.isPressed()) {
NXTServoBattery = msc.getBattery();
if (Button.LEFT.isPressed()) {
angle = 0;
msc.servo1.setAngle(angle);
}
if (Button.ENTER.isPressed()) {
angle = 90;
msc.servo1.setAngle(angle);
}
if (Button.RIGHT.isPressed()) {
angle = 180;
msc.servo1.setAngle(angle);
}
clearRows();
LCD.drawString("Battery: " + NXTServoBattery, 0, 3);
LCD.drawString("Pulse: " + msc.servo1.getPulse(), 0, 4);
LCD.drawString("Angle: " + msc.servo1.getAngle(), 0, 5);
LCD.refresh();
}
// Set to initial angle
msc.servo1.setAngle(90);
LCD.drawString("Test finished", 0, 7);
LCD.refresh();
try {
Thread.sleep(1000);
} catch (Exception e) {
}
credits(3);
System.exit(0);
}
