/*
* This method makes the robot drive FRONT or BACK depending on the direction it is given.
*/
public void drive(Direction direction) {
if (direction == Direction.FRONT) {
Motor.A.forward();
Motor.B.forward();
} else if (direction == Direction.BACK) {
Motor.A.backward();
Motor.B.backward();
}
}
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) {
}
}
}
}
// Decode msg method
public void decodeMSG(Byte msg) throws IOException {
// Motor Movement Functions
// int currentSpeedA = Motor.A.getSpeed();
// int currentSpeedB = Motor.B.getSpeed();
if (msg == MOVE_FOWARD) {
Motor.A.backward();
Motor.B.backward();
} else if (msg == MOVE_FOWARD_LEFT) {
Motor.A.backward();
Motor.B.setSpeed(motorSpeed / 2);
Motor.B.backward();
} else if (msg == MOVE_FOWARD_RIGHT) {
Motor.A.setSpeed(motorSpeed / 2);
Motor.A.backward();
Motor.B.backward();
} else if (msg == ROTATE_LEFT) {
Motor.A.backward();
Motor.B.forward();
} else if (msg == ROTATE_RIGHT) {
Motor.A.forward();
Motor.B.backward();
} else if (msg == MOVE_BACKWARD) {
Motor.A.forward();
Motor.B.forward();
} else if (msg == STOP) {
Motor.A.setSpeed(motorSpeed);
Motor.B.setSpeed(motorSpeed);
Motor.A.stop();
Motor.B.stop();
}
// Motor set Speed Function
if (msg == SET_MOTOR_SPD) {
Byte rMsg = 40;
rMsg = dis.readByte();
int spd = 9 * rMsg;
motorSpeed = spd;
Motor.A.setSpeed(spd);
Motor.B.setSpeed(spd);
}
if (msg == CUSTOM_MOVE) {
int motorB = dis.read();
int motorA = dis.read();
Motor.A.setSpeed(motorA * 9);
Motor.B.setSpeed(motorB * 9);
Motor.A.backward();
Motor.B.backward();
}
// Connection close msg
if (msg == CLOSE_COMM) {
closeBTConnection();
}
}