public void setSpeed(OutputStream out, byte[] buf, int len) {
int leftSign = 1;
int rightSign = 1;
int p = 2;
if (buf[p] == '-') { // if input is '-', move right one place
leftSign = -1;
p++;
}
int leftPwr = 0;
while ('0' <= buf[p] && buf[p] <= '9')
leftPwr = leftPwr * 10 + (buf[p++] - '0'); // accumulate the decimal value
if (leftPwr > H_MAX_POWER) leftPwr = H_MAX_POWER; // stay in range
leftPwr = leftSign * leftPwr;
// assert(buf[p] == ',');
p++;
if (buf[p] == '-') {
rightSign = -1;
p++;
}
int rightPwr = 0;
while ('0' <= buf[p] && buf[p] <= '9') rightPwr = rightPwr * 10 + (buf[p++] - '0');
if (rightPwr > H_MAX_POWER) rightPwr = H_MAX_POWER; // stay in range
rightPwr = rightSign * rightPwr;
// assert(buf[p] == 0); // the buffer is null-terminated
p++;
leftMotor.setPower((leftPwr * 16) / H_MAX_POWER);
rightMotor.setPower((rightPwr * 16) / H_MAX_POWER);
writeCRLF(out, "d");
}
public void motorsOff(OutputStream out, byte[] buf, int len) {
leftMotor.setPower(0);
rightMotor.setPower(0);
writeCRLF(out, "z");
}
public static void run(String args[]) {
try {
System.out.println("WheelWatcher WW-01");
// Get the user interface objects
Display display = IntelliBrain.getLcdDisplay();
AnalogInput thumbwheel = IntelliBrain.getThumbWheel();
// Get the servo object and give it a Motor interface by encapsulating it
// in a ContinuousRotationServo object.
Motor motor = new ContinuousRotationServo(IntelliBrain.getServo(3), true);
motor.setPower(1);
motor.setPower(0);
motor.setPower(-1);
Thread.sleep(2000);
// Get a shaft encoder object and initialize it with the two digital inputs it uses.
IntelliBrainShaftEncoder encoder = IntelliBrain.getShaftEncoder(1);
encoder.initialize(IntelliBrain.getDigitalIO(11), IntelliBrain.getDigitalIO(10));
int previousCounts = 0;
int power = 0;
int rpm = 0;
long time = System.currentTimeMillis();
while (true) {
// Calculate RPM (Revolutions Per Minute)
// RPM = countsThisIteration * iterationsPerMinute / countsPerRevolution
// countsThisIteration - current encoder counts minus previous count
// iterationsPerMinute = 600 - ten loops per second
// countsPerRevolution = 128 - fixed by design of sensor/codewheel
int counts = encoder.getCounts();
display.print(1, "RPM: " + ((counts - previousCounts) * 600) / 128);
previousCounts = counts;
// Read the thumbwheel and scale the value to set the motor power.
int velocity = (thumbwheel.sample() - 512) / 31;
while (velocity == 3 || velocity == 4) {
if (velocity == 3) velocity = (thumbwheel.sample() - 512) / 31;
else velocity = -(thumbwheel.sample() - 512) / 31;
// counts and rpm logic
counts = encoder.getCounts();
previousCounts = counts;
rpm = ((counts - previousCounts) * 600) / 128;
display.print(0, "RPM: " + rpm);
// governer logic
power += (velocity - (rpm / 16.25));
// limiter
if (power > 16) power = 16;
if (power < -16) power = -16;
display.print(0, "Power: " + power);
// set power
motor.setPower(power);
time += 100;
Thread.sleep(time - System.currentTimeMillis());
}
motor.setPower(velocity);
display.print(0, "Power: " + velocity);
// Calculate sleep time so the next iteration starts 1/2 second after the
// the previous one.
time += 100;
Thread.sleep(time - System.currentTimeMillis());
}
} catch (Throwable t) {
// Display a stack trace if an exception occurs.
t.printStackTrace();
}
}
