private boolean collide() {
touch1.fetchSample(touchSample1, 0);
touch2.fetchSample(touchSample2, 0);
if (touchSample1[0] == 1 || touchSample2[0] == 1) {
return true;
}
return false;
}
public boolean pressed() {
SampleProvider touchProvider = ((EV3TouchSensor) tsensor).getTouchMode();
tsample = new float[touchProvider.sampleSize()];
touchProvider.fetchSample(tsample, 0);
if (tsample[0] > 0.5) {
return true;
}
return false;
}
private boolean blackLineDetected() {
colorSensor.fetchSample(colorData, 0);
// if we run over a black line, calculate and update odometer values
if ((int) (colorData[0] * 100) < lineDetectionValue) return true;
else return false;
}
private float getFilteredData() {
usSensor.fetchSample(usData, 0);
float distance = usData[0] * 100;
if (distance > 100) {
distance = 100;
}
return distance;
}
public void run() {
while (true) {
colorFilteredSource.fetchSample(colorData, 0); // acquire data
try {
Thread.sleep(50);
} catch (Exception e) {
} // Poor man's timed sampling
}
}
public FilteredColorPoller(SensorModes colorSensor, int ReadingsToMedian) {
SampleProvider colorReading = colorSensor.getMode("ColorID");
// Stack a filter which takes average readings
SampleProvider colorMedianSource = new MedianFilter(colorReading, ReadingsToMedian);
// The final, filtered data from the us sensor is stored in colorFilteredSource
this.colorFilteredSource = colorMedianSource;
// initialize an array of floats for fetching samples
this.colorData = new float[colorFilteredSource.sampleSize()];
}
public float getDistance() {
// distance sensor mustn't be called more than 4 times a second
if (System.currentTimeMillis() - timeOfLastDistanceCall > 250) {
float samples[] = new float[1];
distanceProvider.fetchSample(samples, 0);
timeOfLastDistanceCall = System.currentTimeMillis();
lastDistance = samples[0];
return samples[0];
} else return lastDistance;
}
/** @return */
public float[] getRGBSamples() {
float samples[] = new float[3];
colorProvider.fetchSample(samples, 0);
return samples;
}
public static void main(String[] args) throws Exception {
DifferentialPilot pilot = new DifferentialPilot(56f, 126f, Motor.D, Motor.A);
pilot.setTravelSpeed(150);
Brick brick = BrickFinder.getDefault();
Port s1 = brick.getPort("S1"); //
Port s4 = brick.getPort("S4"); //
TextLCD lcd = brick.getTextLCD();
NXTLightSensor lysSensor = new NXTLightSensor(s1); // NXT LYS
EV3ColorSensor fargeSensor = new EV3ColorSensor(s4); // EV3 LYS
// COLOR-----------------------------------------------------------------
SampleProvider fargeSample = fargeSensor.getColorIDMode();
float[] colorVerdi = new float[fargeSample.sampleSize()];
// ----------------------------------------------------------------------
// LYS-------------------------------------------------------------------
SampleProvider lysSample = lysSensor;
float[] lysVerdi = new float[lysSample.sampleSize()];
// ----------------------------------------------------------------------
Boolean move = true; // Sett til false hvis roboten ikke skal kjøre videre
// System.out.println("start lokke");
while (!Button.ESCAPE.isDown()) { // Kjører så lenge vi ikke trykker på exit-knappen
// Kjør framover hvis vi ikke allerede gjør det
if (!pilot.isMoving() && move) {
pilot.forward();
}
lysSensor.fetchSample(lysVerdi, 0); // LYS
float lys = lysVerdi[0];
fargeSample.fetchSample(colorVerdi, 0); // COLOR
// float color = colorVerdi[0];
int color = fargeSensor.getColorID(); // Fungerer dette?
lcd.clear();
lcd.drawString("NXT " + lys, 0, 0);
lcd.drawString("EV3 " + color, 0, 1);
if (color != Color.BLACK) {
pilot.rotate(-10); // VENSTRE
} else if (lys < 48) {
// pilot.arcForward(-150);
pilot.rotate(10);
}
// Elsen under trengs ikke, da forward kjøres på starten uansett
else {
// pilot.forward();
if (!pilot.isMoving()) {
pilot.forward();
}
}
} // while
System.out.println("AVSLUTTET");
} // main
public static void main(String[] args) {
int buttonChoice;
// setup the odometer and display
Odometer odo = new Odometer(leftMotor, rightMotor, 30, true);
final TextLCD t = LocalEV3.get().getTextLCD();
do {
// clear the display
t.clear();
// ask the user whether he wants to detect blocks or search blocks
t.drawString("< Left |Right >", 0, 0);
t.drawString(" | ", 0, 1);
t.drawString("Detect|Search ", 0, 2);
buttonChoice = Button.waitForAnyPress();
while (buttonChoice != Button.ID_LEFT
&& buttonChoice != Button.ID_RIGHT
&& buttonChoice != Button.ID_ESCAPE) {
/*
* These two if statements is to make the motor attached to the USsensor rotate
* 90 degrees before the main methods are launched
*/
if (buttonChoice == Button.ID_UP) {
Scan scan = new Scan(usMotor);
scan.usMotorSpeed(50);
scan.turnSensor(90);
buttonChoice = Button.waitForAnyPress();
}
if (buttonChoice == Button.ID_DOWN) {
Scan scan = new Scan(usMotor);
scan.usMotorSpeed(50);
scan.turnSensor(-90);
buttonChoice = Button.waitForAnyPress();
}
}
} while (buttonChoice != Button.ID_LEFT
&& buttonChoice != Button.ID_RIGHT
&& buttonChoice != Button.ID_ESCAPE);
if (buttonChoice == Button.ID_ESCAPE) {
System.exit(0);
}
SensorModes usSensor = new EV3UltrasonicSensor(usPort);
SampleProvider usValue =
usSensor.getMode("Distance"); // colorValue provides samples from this instance
float[] usData =
new float[usValue.sampleSize()]; // colorData is the buffer in which data are returned
SensorModes colorSensor = new EV3ColorSensor(colorPort);
SampleProvider colorValue =
colorSensor.getMode("ColorID"); // colorValue provides samples from this instance
float[] colorData =
new float[colorValue.sampleSize()]; // colorData is the buffer in which data are returned
// The following start the PartA of the Lab when the right button is pressed, afterwards press
// escape to exit program
while (buttonChoice != Button.ID_RIGHT && buttonChoice != Button.ID_ESCAPE) {
if (buttonChoice == Button.ID_LEFT) {
ObjectDetection od = new ObjectDetection(colorValue, colorData, usValue, usData);
od.run();
LCD.drawString("< Left |Right >", 0, 0);
LCD.drawString(" | ", 0, 1);
LCD.drawString("Detect|Search ", 0, 2);
}
buttonChoice = Button.waitForAnyPress();
}
if (buttonChoice == Button.ID_ESCAPE) {
System.exit(0);
}
// If the left button is pressed, the robot will start partB of the lab which is localize, and
// start scanning the field
odo.start();
final USLocalizer usl =
new USLocalizer(
odo,
usSensor,
usData,
USLocalizer.LocalizationType.FALLING_EDGE,
leftMotor,
rightMotor,
WHEEL_RADIUS,
TRACK);
final Scan scan =
new Scan(usValue, usData, colorValue, colorData, odo, leftMotor, rightMotor, usMotor);
br = new BlockRecognition(odo, usSensor, usData, colorValue, colorData, rightMotor, leftMotor);
new LCDInfo(odo, usSensor, usData, colorSensor, colorData);
// begin the threads (we launch a thread to be able to exit it whenever we want using escape)
(new Thread() {
public void run() {
br.start();
scan.start();
usl.doLocalization();
scan.startRun();
}
})
.start();
while (Button.waitForAnyPress() != Button.ID_ESCAPE) ;
System.exit(0);
}
