@Override
  public void action() {
    boolean exit = false;
    // LCD.clear();

    LCD.drawString("Press UP for Menu", 0, 0);
    LCD.drawString("Press DOWN for EXIT", 0, 1);
    this.hal.stop();

    while (!exit) {
      Delay.msDelay(50);

      if (Button.UP.isDown()) {
        // Sound.beep();

        // this lets the arbitrator exit and the main while-loop continues
        sharedState.setState(MyState.ExitState);

        exit = true;
      } else if (Button.DOWN.isDown()) {
        this.hal.destroy();
        System.exit(0);
      }
    }
  }
  @Override
  public void suppress() {

    LCD.drawString("RIGHT suppress", 0, 5); // for debugging later
    turn_right = false;
    sharedPilot.robot.stop();
  }
예제 #3
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  private void followLine(boolean startChainBridge) {
    this.lineFollowing = new LineFollowing(drive, colorSensor);
    lineFollowing.run(startChainBridge);

    // Start search for barcode.
    if (RACE_MODE && PROGRAM_FINISHED_START_BARCODE) {
      PROGRAM_FINISHED_START_BARCODE = false;
      LCD.clear();
      System.out.println("Mode: Barcode");
      barcode(true);
    } else if (RACE_MODE && PROGRAM_STATUS == PROGRAM_BRIDGE) {
      PROGRAM_CHANGED = false;
      LCD.clear();
      System.out.println("Mode: Bridge");
      bridge();
    }
  }
예제 #4
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  private void elevatorCollision() {
    LCD.clear();
    LCD.drawString("Collision: " + collision, 0, 4);
    Delay.msDelay(3000);
    float[] dist = new float[sonicSensor.getDistanceMode().sampleSize()];
    sonicSensor.getDistanceMode().fetchSample(dist, 0);

    if ((dist[0] - DISTANCE_TO_WALL) > 0.005) {
      drive.turnRight(5, false);
    } else {
      drive.turnLeft(5, false);
    }
    if (collision == "Wall") {
      drive.stop();
    } else if (collision == "Left Wall") {
      drive.turnRight(5, false);
    } else if (collision == "Right Wall") {
      drive.moveDistance(drive.maxSpeed(), -2);
      drive.turnLeft(20, false);
    }
  }
예제 #5
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  /*
   * Initializing the bridge mode.
   */
  private void bridge() {
    this.bridge = new Bridge(drive, sonicMotor, leftMotor, rightMotor, sonicSensor, colorSensor);
    bridge.run();

    // Change bridge -> elevator
    if (RACE_MODE && PROGRAM_CHANGED && PROGRAM_STATUS == PROGRAM_ELEVATOR) {
      PROGRAM_CHANGED = false;
      LCD.clear();
      System.out.println("Mode: Elevator");
      elevator();
    }
  }
예제 #6
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  /*
   * Initializing the seesaw mode.
   */
  private void seesaw() {
    this.seesaw = new Seesaw(drive, colorSensor);
    seesaw.run();

    // Start search for barcode.
    if (RACE_MODE && PROGRAM_FINISHED_START_BARCODE) {
      PROGRAM_FINISHED_START_BARCODE = false;
      LCD.clear();
      System.out.println("Mode: Barcode");
      barcode(true);
    }
  }
예제 #7
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  /*
   * Initializing the roll mode.
   */
  private void rolls() {
    this.rolls = new Rolls(drive, sonicSensor, sonicMotor, colorSensor);
    rolls.run();

    // Start search for barcode.
    if (RACE_MODE && PROGRAM_FINISHED_START_BARCODE) {
      PROGRAM_FINISHED_START_BARCODE = false;
      LCD.clear();
      System.out.println("Mode: Barcode");
      barcode(true);
    }
  }
예제 #8
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  /*
   * Initializing the final spurt.
   */
  private void finalSpurt() {
    FinalSpurt finalSpurt =
        new FinalSpurt(
            drive, sonicSensor, touchLeftSensor, touchRightSensor, sonicMotor, colorSensor);
    finalSpurt.run();

    // Change final spurt -> final boss
    if (RACE_MODE && PROGRAM_CHANGED && PROGRAM_STATUS == PROGRAM_FINAL_BOSS) {
      PROGRAM_CHANGED = false;
      LCD.clear();
      System.out.println("Mode: Final Boss");
      finalBoss();
    }
  }
예제 #9
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  /*
   * Initializing the elevator mode.
   */
  private void elevator() {
    this.elevator =
        new Elevator(
            drive, colorSensor, touchLeftSensor, touchRightSensor, sonicSensor, sonicMotor);
    elevator.run();

    // Start search for barcode.
    if (RACE_MODE && PROGRAM_FINISHED_START_BARCODE) {
      PROGRAM_FINISHED_START_BARCODE = false;
      LCD.clear();
      System.out.println("Mode: Barcode");
      barcode(true);
    }
  }
예제 #10
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  /*
   * Start program to read a barcode. If a valid barcode could be found the
   * next program will be loaded.
   */
  private void barcode(boolean moveRobot) {
    this.barcode = new Barcode(drive, colorSensor, moveRobot);
    barcode.run();

    if (barcode != null) {
      int foundBarcode = barcode.getBarcode();
      LCD.clear();
      // System.out.println("Barcode: " + foundBarcode);

      if (foundBarcode != -1) {
        // Change the current program if a valid barcode has been found
        changeProgram(foundBarcode);
      }
    }
  }
예제 #11
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  /** 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();
  }
예제 #12
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 private void displayMessage() {
   LCD.drawString(botMessage, xPosition, yPosition);
   Delay.msDelay(waitTime);
 }
예제 #13
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 private void displayMessage(String message) {
   LCD.drawString(message, xPosition, yPosition);
   Delay.msDelay(waitTime);
   LCD.clear();
 }
예제 #14
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파일: Lab5.java 프로젝트: sebastien177/DPM
  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);
  }
예제 #15
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 private void displayMessage(String input) {
   LCD.drawString(input, xPosition, yPosition);
   Delay.msDelay(waitTime);
 }
예제 #16
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  /*
   * Helper method to initialize the GUI/creating the main menu.
   */
  private void startGUI() {
    // Creating the menu to select certain robot states/obstacles.
    while (true) {

      // The elements of the menu to display on the ev3 brick
      String[] viewItems = {
        "Labyrinth",
        "Linie folgen",
        "Bruecke",
        "Haengebruecke",
        "Rollen",
        "Wippe",
        "Aufzug",
        "Endspurt",
        "Endgegner",
        "Exit",
        "Barcode"
      };

      TextMenu menu = new TextMenu(viewItems, 1);
      // LCD.clear();
      int selection = menu.select();

      /*
       * Menu selection. Selection number is the index of the element in
       * the viewItems array.
       */
      if (selection == -1) {
        // ESCAPE button pressed. End loop
        break;
      } else if (selection == 0) {
        // Maze
        LCD.clear();
        LCD.drawString("Mode: Labyrinth", 0, 0);
        PROGRAM_STATUS = PROGRAM_MAZE;
        maze();
      } else if (selection == 1) {
        // Follow line
        LCD.clear();
        LCD.drawString("Mode: Linie folgen", 0, 0);
        PROGRAM_STATUS = PROGRAM_FOLLOW_LINE;
        followLine(false);
      } else if (selection == 2) {
        // Bridge
        LCD.clear();
        LCD.drawString("Mode: Bruecke", 0, 0);
        PROGRAM_STATUS = PROGRAM_BRIDGE;
        bridge();
      } else if (selection == 3) {
        // Chain bridge
        LCD.clear();
        LCD.drawString("Mode: Haengebruecke", 0, 0);
        PROGRAM_STATUS = PROGRAM_CHAIN_BRDIGE;
        chainBridge();
      } else if (selection == 4) {
        // Rolls
        LCD.clear();
        LCD.drawString("Mode: Rollen", 0, 0);
        PROGRAM_STATUS = PROGRAM_ROLLS;
        rolls();
      } else if (selection == 5) {
        // Seesaw
        LCD.clear();
        LCD.drawString("Mode: Wippe", 0, 0);
        PROGRAM_STATUS = PROGRAM_SEESAW;
        // seesaw();
        followLine(false);
      } else if (selection == 6) {
        // Elevator
        LCD.clear();
        LCD.drawString("Mode: Aufzug", 0, 0);
        PROGRAM_STATUS = PROGRAM_ELEVATOR;
        elevator();
      } else if (selection == 7) {
        // Final spurt
        LCD.clear();
        LCD.drawString("Mode: Endspurt", 0, 0);
        PROGRAM_STATUS = PROGRAM_FINAL_SPURT;
        finalSpurt();
      } else if (selection == 8) {
        // Final boss
        LCD.clear();
        LCD.drawString("Mode: Endgegner", 0, 0);
        PROGRAM_STATUS = PROGRAM_FINAL_BOSS;
        finalBoss();
      } else if (selection == 9) {
        // Terminate whole program on ev3 brick
        LCD.clear();
        PROGRAM_STATUS = PROGRAM_EXIT;
        System.exit(0);
      } else if (selection == 10) {
        // Barcode
        LCD.clear();
        LCD.drawString("Mode: Barcode", 0, 0);
        PROGRAM_STATUS = PROGRAM_BARCODE;
        barcode(true);
      }

      PROGRAM_STATUS = -1;
    }
  }
예제 #17
0
  /**
   * Estimates the collision object depending on current program
   *
   * @param program Current program running
   * @param delay Time to wait in ms
   * @param destructionMode If collision object is a robot KILL IT ^^
   * @return collision Estimated collision object
   */
  public String estimateCollision(String program, int delay) {

    float[] leftSample = new float[leftSensor.sampleSize()];
    float[] rightSample = new float[rightSensor.sampleSize()];
    int leftTouch = 0;
    int rightTouch = 0;
    int touchCount = 0;
    boolean leftTouched = false;
    boolean rightTouched = false;
    collision = "none";
    int run = 0;

    while (run < 4) {
      leftSensor.fetchSample(leftSample, 0);
      leftSensor.fetchSample(leftSample, 0);
      leftTouch = (int) leftSample[0];
      rightTouch = (int) rightSample[0];
      LCD.drawString("Left: " + String.valueOf(leftTouch), 0, 2);
      LCD.drawString("right: " + String.valueOf(rightSample), 0, 3);
      // for Bridge, ChainBridge, Elevator, Rolls, Seesaw
      // Elevator dürfte nicht vorkommen
      // TODO: Collision mit einem Sensor Roboter
      if (leftTouch != 0 && rightTouch != 0) {
        drive.stop();
        Delay.msDelay(delay);
        touchCount++;
        if (touchCount == 2) {
          collision = "Wall";
          break;
        }
      } else if (leftTouch != 0) {
        leftTouched = true;
        drive.stop();
        Delay.msDelay(delay);
        if (!rightTouched) {
          touchCount++;
        } else {
          rightTouched = false;
        }
        if (touchCount == 2) {
          collision = "Left Wall";
          break;
        }
      } else if (rightTouch != 0) {
        rightTouched = true;
        drive.stop();
        Delay.msDelay(delay);
        if (!leftTouched) {
          touchCount++;
        } else {
          leftTouched = false;
        }
        if (touchCount == 2) {
          collision = "Right Wall";
          break;
        }
      } else if (touchCount < 2 && touchCount != 0) {
        touchCount = 0;
        collision = "Robot";
        break;
      }
      run++;
    }
    if ((program == "ChainBridge"
            || program == "LineFollowing"
            || program == "Rolls"
            || program == "Seesaw"
            || program == "Maze")
        && collision == "Robot") {
      if (destructionMode) {
        killThemAll("");
      } else {
        drive.stop();
        Delay.msDelay(TIME_TO_WAIT);
      }
    } else if (program == "Elevator") {
      elevatorCollision();
    } else if (program == "Bridge") {

    } else if (program == "EndBoss") {

    }
    return collision;
  }