public static void Measurement() {
// execute all actions of this state
LCD.drawString("Measurement", 0, 3);
btThread.popElement();
Sound.beep();
Sound.beep();
// lower sensor by RCX motor
tempMotor.setPower(-100);
tempMotor.setPower(0);
for (int i = 0; i < nrcolors; i++) {
if (colorsens.getColorID() == lakes[i].color && !lakes[i].found) // kleuren komen overeen
lakes[i].celsius = tempSensor.getCelcius();
lakes[i].found = true;
return;
}
// raise temp sensor
tempMotor.setPower(100);
btThread.write(500); // sends the message 'action done'
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((lakes[0].found && lakes[1].found && lakes[2].found)) {
current = State.FINISHED;
transitionTaken = true;
} else if ((true)) {
current = State.WATCH;
transitionTaken = true;
}
}
}
// The recognize() method returns true if the object is a blue block
public boolean recognize() {
// Boolean that determines whether or not to start detecting what kind of object is in front
boolean isRecognizing = true;
while (isRecognizing) {
// The robot will drive slowly if the light reads under 300, which means an object is closeby
while (color.getNormalizedLightValue() < 300) {
robot.setForwardSpeed(2);
}
// When the robot is close enough to the object, it will stop then turn on its
// blue light which gives two noticeable different light values for a wooden and blue
// block
robot.setForwardSpeed(0);
color.setFloodlight(Color.BLUE);
// If the light value of blue reads over 250, it is a blue block
if (color.getNormalizedLightValue() >= 250) {
Sound.beep();
LCD.drawString("Blue styrofoam block", 3, 5);
// Turn the default light back on after analyzing an object
color.setFloodlight(true);
return true;
} else { // If it is not a blue block, it is a wooden block
Sound.buzz();
LCD.drawString("Wooden block", 3, 5);
// Turn the default light back on after analyzing an object
color.setFloodlight(true);
}
// Set the boolean to false to break out of the while loop and stop analyzing the object
isRecognizing = false;
}
// Default return value. It should never get here but JAVA requires a return type
return false;
}
public static void Watch() {
// execute all actions of this state
LCD.drawString("Watch", 0, 3);
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((sonar.getDistance() <= 10)) {
current = State.SONARFLAG;
transitionTaken = true;
} else if ((lejos.robotics.Color.RED == colorsens.getColorID())
|| (lejos.robotics.Color.BLUE == colorsens.getColorID())
|| (lejos.robotics.Color.GREEN == colorsens.getColorID())) {
current = State.COLORFLAG;
transitionTaken = true;
}
}
}
public ObjectRecognition(UltrasonicSensor sensor, ColorSensor colorSensor, TwoWheeledRobot robo) {
// The constructor for objectRecognitino object will take an ultrasonic sensor, color sensor,
// and a robot type
ultrasonic = sensor;
color = colorSensor;
robot = robo;
// The color of the light sensor will be set to red until an object is sensed
// (value > 280) then it will be turned to blue
color.setFloodlight(true);
}