/**
* Front is clear method
*
* @return True if front is clear
*/
private boolean frontIsClear() {
//
// System.out.print("Front Light Value: ");
System.out.print("F: ");
System.out.println(myFrontSensor.getLightValue());
return myFrontSensor.getLightValue() > lightThreshold;
}
public static void main(String[] aArg) throws Exception {
String left = "Turn left ";
String right = "Turn right";
LightSensor light = new LightSensor(SensorPort.S3);
final int blackWhiteThreshold = 45;
DataLogger dl = new DataLogger("Memory10MS_C.txt");
int lightValue;
Runtime rt = Runtime.getRuntime();
final int forward = 1;
final int stop = 3;
final int flt = 4;
final int power = 80;
// Use the light sensor as a reflection sensor
light.setFloodlight(true);
LCD.drawString("Light %: ", 0, 0);
// Show light percent until LEFT is pressed
LCD.drawString("Press LEFT", 0, 2);
LCD.drawString("to start", 0, 3);
while (!Button.LEFT.isDown()) {
LCD.drawInt(light.readValue(), 3, 9, 0);
}
// Follow line until ESCAPE is pressed
LCD.drawString("Press ESCAPE", 0, 2);
LCD.drawString("to stop ", 0, 3);
dl.start();
while (!Button.ESCAPE.isDown()) {
lightValue = light.readValue();
if (lightValue > blackWhiteThreshold) {
// On white, turn right
LCD.drawString(right, 0, 1);
MotorPort.B.controlMotor(0, stop);
MotorPort.C.controlMotor(power, forward);
} else {
// On black, turn left
LCD.drawString(left, 0, 1);
MotorPort.B.controlMotor(power, forward);
MotorPort.C.controlMotor(0, stop);
}
LCD.drawInt(lightValue, 3, 9, 0);
dl.writeSample(rt.freeMemory());
Thread.sleep(10);
}
// Stop car gently with free wheel drive
MotorPort.B.controlMotor(0, flt);
MotorPort.C.controlMotor(0, flt);
LCD.clear();
dl.close();
LCD.drawString("Program stopped", 0, 0);
Thread.sleep(1000);
}
/**
* Right is clear method
*
* @return True if right is clear
*/
private boolean rightIsClear() {
//
// System.out.print("Right Light Value: ");
System.out.print("R: ");
System.out.println(myRightSensor.getLightValue());
return myRightSensor.getLightValue() > lightThreshold;
}
/**
* Stops the robot when the ultrasonic sensor detects a certain distance.
*
* @param stopDistance as long as the current distance is less than this stop distance, the robot
* will keep moving. Once the current distance is larger than the stop distance, the function
* returns.
* @return the current distance upon stopping.
*/
private boolean stopBeforeEdge() {
int currentDistance = 0;
int lightLevelReading;
int distanceToObject;
boolean edgeIsSafe = false;
do {
lightLevelReading = lightSensorDown.readValue();
Motor.A.rotate(centerToEdgeDistance, true);
Motor.C.rotate(centerToEdgeDistance, true);
} while ((lightLevelReading > BLACK_WHITE_THRESHOLD)
&& (Motor.A.isMoving() && Motor.C.isMoving()));
pilot.stop();
lightLevelReading = lightSensorDown.readValue();
/*
distanceToObject = ultrasonicSensor.getDistance();
if(distanceToObject < 20)
{
edgeIsSafe = true;
Motor.A.setSpeed(1000);
Motor.C.setSpeed(1000);
pilot.setRotateSpeed(1000);
pilot.travel(280);
Delay.msDelay(10000);
return(edgeIsSafe);
}
if(lightLevelReading < BLACK_WHITE_THRESHOLD)
{
System.out.println("Unsafe edge");
edgeIsSafe = false;
return(edgeIsSafe);
}
else if (lightLevelReading > BLACK_WHITE_THRESHOLD)
{
System.out.println("Safe edge");
edgeIsSafe = true;
safeEdgeCount++;
return(edgeIsSafe);
}
*/
return (edgeIsSafe);
}
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) {
}
}
}
/**
* Calibrates the bright light level
*
* @return the calibrated light value
*/
public int clibrateDark() {
int value;
Logger.getInstance().system("Place light sensor on a dark area then press enter");
Button.ENTER.waitForPressAndRelease();
value = light.readValue();
return value;
}
public static void main(String[] arguments) {
Motor.A.setSpeed(200);
Motor.B.setSpeed(200);
Motor.A.forward();
Motor.B.forward();
final LightSensor sensor = new LightSensor(SensorPort.S1);
final Object blocker = new Object();
while (true) {
if (sensor.readNormalizedValue() >= 512) {
LCD.bitBlt(
null,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
0,
0,
0,
0,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
LCD.ROP_CLEAR);
} else {
LCD.bitBlt(
null,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
0,
0,
0,
0,
LCD.SCREEN_WIDTH,
LCD.SCREEN_HEIGHT,
LCD.ROP_SET);
}
synchronized (blocker) {
try {
blocker.wait(100);
} catch (InterruptedException e) {
}
}
}
}
/** Calibration utility method, not sure if we need it */
private void doCalibration() {
// Prep sensor
System.out.println("Port 1: Front Sensor");
System.out.println("Port 2: Right Sensor");
System.out.println("Port 3: Compass\n");
// Calibrate front
// System.out.println("Calibrate High Front");
// Button.waitForPress();
// myFrontSensor.calibrateHigh();
System.out.print("Value: ");
System.out.println(myFrontSensor.getLightValue());
// Calibrate right
// System.out.println("Calibrate High Right");
// Button.waitForPress();
// myRightSensor.calibrateHigh();
System.out.print("Value: ");
System.out.println(myRightSensor.getLightValue());
Button.waitForPress();
}
/**
* If an abyss is detected, the robot will rotate 10 degrees, until the light sensor sees normal
* ground again.
*/
@Override
public void action() {
System.out.println("Abys");
suppressed = false;
while (lightSensor.getLightValue() < threshold && !suppressed) {
pilot.rotate(10, true);
if (!pilot.isMoving()) {
Settings.whipAndBridgeCounter++;
}
Delay.msDelay(10);
}
while (pilot.isMoving() && !suppressed) {
Thread.yield();
}
pilot.stop();
}
public static void main(String[] args) throws InterruptedException {
LightSensor left = new LightSensor(SensorPort.S3);
LightSensor right = new LightSensor(SensorPort.S4);
while (true) {
System.out.println("left: " + left.getLightValue());
System.out.println("right: " + right.getLightValue());
if (left.getLightValue() < 45 && right.getLightValue() < 45) {
Motor.A.stop();
Thread.sleep(1245);
} else if (left.getLightValue() < 45) {
Motor.B.stop();
} else if (right.getLightValue() < 45) {
Motor.A.stop();
} else {
Motor.A.backward();
Motor.B.backward();
}
}
}
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);
}
/**
* Checks for a bright object in front to indicate that we are at the target
*
* @return True if we are at target
*/
private boolean atTarget() {
return myFrontSensor.getLightValue() > endThreshold;
}
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();
}
}
}
/**
* This behavior will take control if the current normalized light value is lower than a given
* threshold.
*/
@Override
public boolean takeControl() {
return (!Settings.beforeWhip && !Settings.afterWhip && lightSensor.getLightValue() < threshold);
}
public static void getValue() {
l = sens2.getLightValue();
r = sens.getLightValue();
}