コード例 #1
0
ファイル: IBB.java プロジェクト: pfcoperez/tecnicasiarobotica
  public static int readLine(
      InputStream in, OutputStream out, Display display, boolean echo, byte[] buf, int maxLen) {
    // get a line from the input stream into the buffer buf, of max length maxLen
    // line is terminated with a return character;
    // echo back to output stream
    // also write to line 0 of the display, up to 16 characters
    try {
      int data;
      int len = 0;
      maxLen--; // make room for a null byte
      while ((data = in.read()) != -1) {
        if (data == 0) continue;
        if (data == '\n') continue;
        if (echo) out.write(data); // echo it back
        byte ch = (byte) data;

        if (ch == '\r') {
          if (echo) out.write('\n');
          int dlen = len; // LCD panel display length
          if (dlen > 16) dlen = 16;
          byte[] screenBuf = new byte[dlen];
          for (int i = 0; i < dlen; i++) screenBuf[i] = buf[i];
          display.print(0, screenBuf); // echo it to the display
          buf[len] = 0;
          return len;
        } else if (len < maxLen) {
          buf[len++] = ch;
        }
      }
    } catch (Exception e) {
      display.print(0, "oops!");
    }
    return -1;
  }
コード例 #2
0
ファイル: IBB.java プロジェクト: pfcoperez/tecnicasiarobotica
  public static void main(String args[]) {
    Display display = IntelliBrain.getLcdDisplay();
    IBB ibb = new IBB();

    try {
      SerialPort comPort = IntelliBrain.getCom1();

      // Serial Parameters
      comPort.setSerialPortParams(
          38400, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);

      InputStream inputStream = comPort.getInputStream();
      OutputStream outputStream = comPort.getOutputStream();

      // clear screen
      display.print(0, "");
      display.print(1, "");

      // test the readLine routine
      byte[] buf = new byte[128];

      while (true) {
        int len = readLine(inputStream, outputStream, display, true, buf, 128);

        if (len == 0) continue;

        switch (buf[0]) {
          case 'B':
            ibb.getVersion(outputStream, buf, len);
            break;
          case 'D':
            ibb.setSpeed(outputStream, buf, len);
            break;
          case 'H':
            ibb.sysBeep(outputStream, buf, len);
            break;
          case 'L':
            ibb.setLedState(outputStream, buf, len);
            break;
          case 'N':
            ibb.readProximitySensors(outputStream, buf, len);
            break;
          case 'O':
            ibb.readLightSensors(outputStream, buf, len);
            break;
          case 'Z':
            ibb.motorsOff(outputStream, buf, len);
            break;
        }
      }
    } catch (Exception e) {
      e.printStackTrace();
    }
  }
コード例 #3
0
ファイル: Speedometer.java プロジェクト: bign8/Robot
  public static void run(String args[]) {
    try {
      System.out.println("WheelWatcher WW-01");

      // Get the user interface objects
      Display display = IntelliBrain.getLcdDisplay();
      AnalogInput thumbwheel = IntelliBrain.getThumbWheel();

      // Get the servo object and give it a Motor interface by encapsulating it
      // in a ContinuousRotationServo object.
      Motor motor = new ContinuousRotationServo(IntelliBrain.getServo(3), true);

      motor.setPower(1);
      motor.setPower(0);
      motor.setPower(-1);
      Thread.sleep(2000);

      // Get a shaft encoder object and initialize it with the two digital inputs it uses.
      IntelliBrainShaftEncoder encoder = IntelliBrain.getShaftEncoder(1);
      encoder.initialize(IntelliBrain.getDigitalIO(11), IntelliBrain.getDigitalIO(10));

      int previousCounts = 0;
      int power = 0;
      int rpm = 0;
      long time = System.currentTimeMillis();
      while (true) {
        // Calculate RPM (Revolutions Per Minute)
        // RPM = countsThisIteration * iterationsPerMinute / countsPerRevolution
        // countsThisIteration - current encoder counts minus previous count
        // iterationsPerMinute = 600 - ten loops per second
        // countsPerRevolution = 128 - fixed by design of sensor/codewheel
        int counts = encoder.getCounts();
        display.print(1, "RPM: " + ((counts - previousCounts) * 600) / 128);
        previousCounts = counts;

        // Read the thumbwheel and scale the value to set the motor power.
        int velocity = (thumbwheel.sample() - 512) / 31;
        while (velocity == 3 || velocity == 4) {
          if (velocity == 3) velocity = (thumbwheel.sample() - 512) / 31;
          else velocity = -(thumbwheel.sample() - 512) / 31;

          // counts and rpm logic
          counts = encoder.getCounts();
          previousCounts = counts;
          rpm = ((counts - previousCounts) * 600) / 128;
          display.print(0, "RPM: " + rpm);

          // governer logic
          power += (velocity - (rpm / 16.25));

          // limiter
          if (power > 16) power = 16;
          if (power < -16) power = -16;
          display.print(0, "Power: " + power);

          // set power
          motor.setPower(power);

          time += 100;
          Thread.sleep(time - System.currentTimeMillis());
        }
        motor.setPower(velocity);
        display.print(0, "Power: " + velocity);

        // Calculate sleep time so the next iteration starts 1/2 second after the
        // the previous one.
        time += 100;
        Thread.sleep(time - System.currentTimeMillis());
      }
    } catch (Throwable t) {
      // Display a stack trace if an exception occurs.
      t.printStackTrace();
    }
  }