public static void main(String[] args) throws InterruptedException {
NXTSoundSensor sound = new NXTSoundSensor(SensorPort.S1);
LCD.clear();
while (!Button.ESCAPE.isDown()) {
// LCD.drawString("SS: " + sound.readValue(), 0, 0);
// System.out.println("SS: " + sound.readValue());
Thread.sleep(20);
}
LCD.clear();
System.out.println("EXIT");
System.exit(0);
}
/** Initializes the main menu that enables the user to select a certain obstacle mode. */
public GUI() {
LCD.clear(); // Make sure display is clear before the menu is displayed
// Stop current obstacle program if the left button is pressed
Button.LEFT.addKeyListener(
new KeyListener() {
@Override
public void keyPressed(Key k) {
endAllPrograms();
}
@Override
public void keyReleased(Key k) {}
});
// Stop program when the escape button is pressed on the ev3 brick
Button.ESCAPE.addKeyListener(
new KeyListener() {
@Override
public void keyPressed(Key k) {
drive.stop();
endAllPrograms();
// Start the GUI again => main menu should be shown
// when the obstacle program has been interrupted
startGUI();
}
@Override
public void keyReleased(Key k) {}
});
startGUI();
}
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
@Override
public boolean takeControl() {
return Button.ESCAPE.isDown();
}