public void init(HardwareMap hardwareMap) {
leftClimberServo = hardwareMap.servo.get("leftClimberServo");
leftClimberServo.setPosition(leftInitialPosition);
rightClimberServo = hardwareMap.servo.get("rightClimberServo");
rightClimberServo.setPosition(rightInitialPosition);
}
public void raiseRightSide() {
rightClimberServo.setPosition(rightUpwardPosition);
}
public void resetRightSide() {
rightClimberServo.setPosition(rightInitialPosition);
}
public void rightSide() {
rightClimberServo.setPosition(rightScoringPosition);
}
public void raiseLeftSide() {
leftClimberServo.setPosition(leftUpwardPosition);
}
public void resetLeftSide() {
leftClimberServo.setPosition(leftInitialPosition);
}
public void scoreLeftSide() {
leftClimberServo.setPosition(leftScoringPosition);
}
// set status led state and wait a second
public static void main(String[] args) throws IOException {
char test = 0;
int servo_position = 6;
System.out.println("NanoVM - console echo demo");
System.out.println("Please press some keys ...");
// adc_value150 이상일경우 흰색 150이하 일경우 검은색
ADC.setEnable(1, ADC.ENABLE);
ADC.setEnable(2, ADC.ENABLE);
ADC.setEnable(3, ADC.ENABLE);
ADC.setEnable(4, ADC.ENABLE);
Servo.release(0);
int adc_value1, adc_value2, adc_value3, adc_value4;
boolean enabled;
while (true) {
if (System.in.available() != 0) {
test = ((char) System.in.read());
System.out.print(test);
} else {
test = 0;
}
if (test == 'w') {
Motor.setSpeed(0, 80);
} else if (test == 's') {
Motor.stop();
}
// Servo.setPosition(0,12);// 12
enabled = ADC.getEnable(1);
adc_value1 = ADC.getADC(1);
System.out.println("adc1 " + adc_value1);
enabled = ADC.getEnable(2);
adc_value2 = ADC.getADC(2);
System.out.println("adc2 " + adc_value2);
enabled = ADC.getEnable(3);
adc_value3 = ADC.getADC(3);
System.out.println("adc3 " + adc_value3);
enabled = ADC.getEnable(4);
adc_value4 = ADC.getADC(4);
System.out.println("adc4 " + adc_value4);
if (adc_value2 < 150 || adc_value3 < 150) {
Servo.setPosition(0, 6);
} else if (adc_value1 < 150 && adc_value2 < 150) {
Servo.setPosition(0, 9);
} else if (adc_value4 < 150 && adc_value3 < 150) {
Servo.setPosition(0, 3);
} else if (adc_value1 < 150) {
Servo.setPosition(0, 9);
} else if (adc_value4 < 150) {
Servo.setPosition(0, 3);
}
Clock.delay_ms(10);
}
}