public static void main(String[] aArg) throws Exception {
String left = "Turn left ";
String right = "Turn right";
LightSensor light = new LightSensor(SensorPort.S3);
final int blackWhiteThreshold = 45;
DataLogger dl = new DataLogger("Memory10MS_C.txt");
int lightValue;
Runtime rt = Runtime.getRuntime();
final int forward = 1;
final int stop = 3;
final int flt = 4;
final int power = 80;
// Use the light sensor as a reflection sensor
light.setFloodlight(true);
LCD.drawString("Light %: ", 0, 0);
// Show light percent until LEFT is pressed
LCD.drawString("Press LEFT", 0, 2);
LCD.drawString("to start", 0, 3);
while (!Button.LEFT.isDown()) {
LCD.drawInt(light.readValue(), 3, 9, 0);
}
// Follow line until ESCAPE is pressed
LCD.drawString("Press ESCAPE", 0, 2);
LCD.drawString("to stop ", 0, 3);
dl.start();
while (!Button.ESCAPE.isDown()) {
lightValue = light.readValue();
if (lightValue > blackWhiteThreshold) {
// On white, turn right
LCD.drawString(right, 0, 1);
MotorPort.B.controlMotor(0, stop);
MotorPort.C.controlMotor(power, forward);
} else {
// On black, turn left
LCD.drawString(left, 0, 1);
MotorPort.B.controlMotor(power, forward);
MotorPort.C.controlMotor(0, stop);
}
LCD.drawInt(lightValue, 3, 9, 0);
dl.writeSample(rt.freeMemory());
Thread.sleep(10);
}
// Stop car gently with free wheel drive
MotorPort.B.controlMotor(0, flt);
MotorPort.C.controlMotor(0, flt);
LCD.clear();
dl.close();
LCD.drawString("Program stopped", 0, 0);
Thread.sleep(1000);
}
/* モータ制御初期化 */
public void reset() {
/* 左モータエンコーダリセット */
MotorPort.C.setPWMMode(BasicMotorPort.PWM_BRAKE);
MotorPort.C.resetTachoCount();
MotorPort.C.controlMotor(0, 0);
/* 右モータエンコーダリセット */
MotorPort.B.setPWMMode(BasicMotorPort.PWM_BRAKE);
MotorPort.B.resetTachoCount();
MotorPort.B.controlMotor(0, 0);
}
/* モータ制御停止 */
public void stop() {
MotorPort.C.controlMotor(0, 0); /* 左モータPWM出力セット */
MotorPort.B.controlMotor(0, 0); /* 右モータPWM出力セット */
}
/* 左モータPWM出力セット */
public void setPwmL(int pwm) {
MotorPort.C.controlMotor(pwm, 1);
}
/* 左モータ回転角度[deg]取得 */
public int getCountL() {
return MotorPort.C.getTachoCount();
}
