public static void Measurement() {
// execute all actions of this state
LCD.drawString("Measurement", 0, 3);
btThread.popElement();
Sound.beep();
Sound.beep();
// lower sensor by RCX motor
tempMotor.setPower(-100);
tempMotor.setPower(0);
for (int i = 0; i < nrcolors; i++) {
if (colorsens.getColorID() == lakes[i].color && !lakes[i].found) // kleuren komen overeen
lakes[i].celsius = tempSensor.getCelcius();
lakes[i].found = true;
return;
}
// raise temp sensor
tempMotor.setPower(100);
btThread.write(500); // sends the message 'action done'
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((lakes[0].found && lakes[1].found && lakes[2].found)) {
current = State.FINISHED;
transitionTaken = true;
} else if ((true)) {
current = State.WATCH;
transitionTaken = true;
}
}
}
// a method for every state
public static void Btinit() {
// execute all actions of this state
LCD.drawString("Btinit", 0, 3);
LCD.drawString("Waiting...", 0, 0);
LCD.refresh();
BTConnection btc = Bluetooth.waitForConnection();
LCD.clear();
LCD.drawString("Connected", 0, 0);
LCD.refresh();
DataInputStream dis = btc.openDataInputStream();
DataOutputStream dos = btc.openDataOutputStream();
// BTfunctionality btThread = new BTfunctionality("SlaveReader",dis,dos);
btThread = new BTfunctionality("SlaveReader", dis, dos);
btThread.start();
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((true)) {
current = State.WATCH;
transitionTaken = true;
}
}
}
public static void Finished() {
// execute all actions of this state
LCD.drawString("Finished", 0, 3);
Sound.beep();
Sound.beep();
Sound.beep();
btThread.write(300); // sends the message 'all done'
}
public static void Colorflag() {
// execute all actions of this state
LCD.drawString("Colorflag", 0, 3);
Sound.beep();
btThread.write(400); // sends the message 'new color found'
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((starttime + 30000 <= System.currentTimeMillis())) {
current = State.WATCH;
transitionTaken = true;
} else if ((btThread.peekElement() == 500)) {
current = State.MEASUREMENT;
transitionTaken = true;
}
}
}
public static void Sonarflag() {
// execute all actions of this state
LCD.drawString("Sonarflag", 0, 3);
Sound.beep();
btThread.write(sonar.getDistance()); // sends the data from the sonar
// leg de huidige tijd vast voor alle transitions met een timeoutcondition
long starttime = System.currentTimeMillis();
// when done, wait for a trigger for a transition
boolean transitionTaken = false;
while (!transitionTaken) {
if ((true)) {
current = State.WATCH;
transitionTaken = true;
}
}
}
