Exemplo n.º 1
0
  public static void main(String[] args) {
    LCDWriter lcd = LCDWriter.getInstance();
    lcd.start();

    UltrasonicPoller up = UltrasonicPoller.getInstance();
    PathTraveller traveller = PathTraveller.getInstance();

    Odometer odo = Odometer.getInstance();
    Driver dr = Driver.getInstance();

    up.start();
    odo.start();

    traveller.recalculatePathToCoords(135, 105);
    //		traveller.popNextWaypoint();
    //		lcd.writeToScreen(str, lineNumber);
    //		while(!traveller.followThePath()){
    //			traveller.recalculatePathToCoords(75, 75);
    //		}
    boolean done = false;
    while (!done) {
      done = followPath();
      try {
        if (!done) traveller.recalculatePathToCoords(135, 105);
        else break;
      } catch (Exception e) {
        lcd.writeToScreen("E: " + e.toString(), 1);
      }
    }

    // indicate finish
    Sound.beepSequenceUp();
  }
Exemplo n.º 2
0
  public static void main(String[] args) {
    LCDWriter lcd = LCDWriter.getInstance();
    lcd.start();

    UltrasonicPoller up = UltrasonicPoller.getInstance();

    Odometer odo = Odometer.getInstance();
    Driver.setSpeed(30);
    Driver dr = Driver.getInstance();
    ObjRec or = new ObjRec();

    up.start();
    odo.start();

    Trajectory block = searchTile();

    //
    lcd.writeToScreen("here", 1);
    if (block != null) {
      dr.turnTo(odo.getTheta() + block.theta);

      dr.forward(Math.abs(block.distance - 5));
      try {
        //				if(or == null) lcd.writeToScreen("NO!", 1);

        ArrayList<ObjRec.blockColor> color = or.detect();

        //
        if (color == null || color.size() == 0) lcd.writeToScreen("EMPTY", 1);
        else {
          int count = 1;
          for (ObjRec.blockColor c : color) if (c != null) lcd.writeToScreen(c.name(), count++);
        }
      } catch (Exception e) {
        lcd.writeToScreen("EXCEPTION", 1);
      }
    }

    //		lcd.writeToScreen("fin", 1);
    // indicate finish
    Sound.beepSequenceUp();
  }