/**
* 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;
}
}
}
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);
}
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();
}
}
}