Пример #1
0
  public static void main(String[] args) throws InterruptedException {
    LightSensor left = new LightSensor(SensorPort.S3);
    LightSensor right = new LightSensor(SensorPort.S4);

    while (true) {
      System.out.println("left: " + left.getLightValue());
      System.out.println("right: " + right.getLightValue());

      if (left.getLightValue() < 45 && right.getLightValue() < 45) {
        Motor.A.stop();

        Thread.sleep(1245);

      } else if (left.getLightValue() < 45) {
        Motor.B.stop();
      } else if (right.getLightValue() < 45) {
        Motor.A.stop();
      } else {
        Motor.A.backward();
        Motor.B.backward();
      }
    }
  }
  // Decode msg method
  public void decodeMSG(Byte msg) throws IOException {
    // Motor Movement Functions
    //        int currentSpeedA = Motor.A.getSpeed();
    //        int currentSpeedB = Motor.B.getSpeed();

    if (msg == MOVE_FOWARD) {
      Motor.A.backward();
      Motor.B.backward();
    } else if (msg == MOVE_FOWARD_LEFT) {
      Motor.A.backward();
      Motor.B.setSpeed(motorSpeed / 2);
      Motor.B.backward();

    } else if (msg == MOVE_FOWARD_RIGHT) {
      Motor.A.setSpeed(motorSpeed / 2);
      Motor.A.backward();
      Motor.B.backward();

    } else if (msg == ROTATE_LEFT) {
      Motor.A.backward();
      Motor.B.forward();
    } else if (msg == ROTATE_RIGHT) {
      Motor.A.forward();
      Motor.B.backward();
    } else if (msg == MOVE_BACKWARD) {
      Motor.A.forward();
      Motor.B.forward();
    } else if (msg == STOP) {
      Motor.A.setSpeed(motorSpeed);
      Motor.B.setSpeed(motorSpeed);
      Motor.A.stop();
      Motor.B.stop();
    }

    // Motor set Speed Function
    if (msg == SET_MOTOR_SPD) {

      Byte rMsg = 40;

      rMsg = dis.readByte();

      int spd = 9 * rMsg;
      motorSpeed = spd;

      Motor.A.setSpeed(spd);
      Motor.B.setSpeed(spd);
    }

    if (msg == CUSTOM_MOVE) {
      int motorB = dis.read();
      int motorA = dis.read();
      Motor.A.setSpeed(motorA * 9);
      Motor.B.setSpeed(motorB * 9);
      Motor.A.backward();
      Motor.B.backward();
    }

    // Connection close msg
    if (msg == CLOSE_COMM) {
      closeBTConnection();
    }
  }
Пример #3
0
 /*
  * This method makes the robot stop.
  */
 public void stop() {
   Motor.A.stop();
   Motor.B.stop();
 }