public static void main(String[] args) {
/*
* Wait for startup button press
* Button.ID_LEFT = BangBang Type
* Button.ID_RIGHT = P Type
*/
int option = 0;
Printer.printMainMenu();
while (option == 0)
// option = Button.waitForPress();
option = Button.waitForAnyPress();
// depends on version
// Setup controller objects
BangBangController bangbang =
new BangBangController(bandCenter, bandWidth, motorLow, motorHigh);
PController p = new PController(bandCenter, bandWidth);
// Setup ultrasonic sensor
UltrasonicSensor usSensor = new UltrasonicSensor(usPort);
// Setup Printer
Printer printer = null;
// Setup Ultrasonic Poller
UltrasonicPoller usPoller = null;
switch (option) {
case Button.ID_LEFT:
usPoller = new UltrasonicPoller(usSensor, bangbang);
printer = new Printer(option, bangbang);
break;
case Button.ID_RIGHT:
usPoller = new UltrasonicPoller(usSensor, p);
printer = new Printer(option, p);
break;
default:
System.out.println("Error - invalid button");
System.exit(-1);
break;
}
usPoller.start();
printer.start();
// Wait for another button press to exit
// Button.waitForPress();
Button.waitForAnyPress();
// depends on version
System.exit(0);
}
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);
}
