// 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 main(String[] args) {
LCD.drawString(appName, 0, 0);
LCD.drawString("#################", 0, 2);
LCD.drawString("#################", 0, 6);
msc = new MSC(SensorPort.S1);
// Set to initial angle
msc.servo1.setAngle(90);
int angle = 0;
int pulse = 0;
int NXTServoBattery = 0;
while (!Button.ESCAPE.isPressed()) {
NXTServoBattery = msc.getBattery();
if (Button.LEFT.isPressed()) {
angle = 0;
msc.servo1.setAngle(angle);
}
if (Button.ENTER.isPressed()) {
angle = 90;
msc.servo1.setAngle(angle);
}
if (Button.RIGHT.isPressed()) {
angle = 180;
msc.servo1.setAngle(angle);
}
clearRows();
LCD.drawString("Battery: " + NXTServoBattery, 0, 3);
LCD.drawString("Pulse: " + msc.servo1.getPulse(), 0, 4);
LCD.drawString("Angle: " + msc.servo1.getAngle(), 0, 5);
LCD.refresh();
}
// Set to initial angle
msc.servo1.setAngle(90);
LCD.drawString("Test finished", 0, 7);
LCD.refresh();
try {
Thread.sleep(1000);
} catch (Exception e) {
}
credits(3);
System.exit(0);
}
public synchronized void run() {
if ((line >= 0) && (line <= 7)) {
LCD.drawString(" ", 0, getLine());
LCD.drawString(getAString(), 0, getLine());
LCD.refresh();
}
}
public void start(iStopCondition stopCond, boolean forward) {
final int power = 300;
int sensorVal, powerDiff, whiteDiff = 0;
pidController = new PIDController(sensor.blackWhiteThreshold, 0);
pidController.setPIDParam(PIDController.PID_KP, 1.8f);
pidController.setPIDParam(PIDController.PID_KD, 8f);
// LCD.clear();
LCD.drawString("Light: ", 0, 1);
LCD.drawString("pDiff: ", 0, 2);
while (!stopCond.stopLoop()) {
// whiteDiff = (sensorRef.wasWhite() ?
// sensorRef.getChachedLightValue() - whiteRef : whiteDiff);
sensorVal = sensor.light() - whiteDiff / 2;
powerDiff = pidController.doPID(sensorVal);
if (forward) {
pilot.forward(power + powerDiff, power - powerDiff);
} else {
pilot.backward(power - powerDiff, power + powerDiff);
}
LCD.drawInt(sensorVal, 4, 10, 1);
LCD.drawInt(powerDiff, 4, 10, 2);
LCD.refresh();
Thread.yield();
}
pilot.stop();
LCD.clear();
}
public static void main(String[] args) throws Exception {
RCXTemperatureSensor temperature = new RCXTemperatureSensor(SensorPort.S1);
boolean s = true;
while (!Button.ESCAPE.isDown()) {
LCD.clear();
if (s) LCD.drawString("C " + temperature.getCelcius(), 0, 0);
else LCD.drawString("F " + temperature.getFahrenheit(), 0, 0);
s = !s;
LCD.refresh();
Thread.sleep(2000);
}
}
/**
* Final Message
*
* @param seconds
*/
private static void credits(int seconds) {
LCD.clear();
LCD.drawString("LEGO Mindstorms", 0, 1);
LCD.drawString("NXT Robots ", 0, 2);
LCD.drawString("run better with", 0, 3);
LCD.drawString("Java leJOS", 0, 4);
LCD.drawString("www.lejos.org", 0, 6);
LCD.refresh();
try {
Thread.sleep(seconds * 1000);
} catch (Exception e) {
}
}
public static void main(String[] args) throws Exception {
String connected = "Connected";
String waiting = "Waiting...";
String closing = "Closing...";
while (true) {
LCD.drawString(waiting, 0, 0);
LCD.refresh();
// BTConnection btc = Bluetooth.waitForConnection();
BTConnection btc = Bluetooth.waitForConnection(0, NXTConnection.RAW);
LCD.clear();
LCD.drawString(connected, 0, 0);
LCD.refresh();
DataInputStream dis = btc.openDataInputStream();
DataOutputStream dos = btc.openDataOutputStream();
for (int i = 0; i < 100; i++) {
int n = dis.readInt();
LCD.drawInt(n, 7, 0, 1);
LCD.refresh();
dos.writeInt(-n);
dos.flush();
}
dis.close();
dos.close();
Thread.sleep(100); // wait for data to drain
LCD.clear();
LCD.drawString(closing, 0, 0);
LCD.refresh();
btc.close();
LCD.clear();
}
}
public static void main(String[] args) throws Exception {
ColorHTSensor cmps = new ColorHTSensor(SensorPort.S1);
String color = "Color";
String r = "R";
String g = "G";
String b = "B";
String[] colorNames = {
"Red",
"Green",
"Blue",
"Yellow",
"Magenta",
"Orange",
"White",
"Black",
"Pink",
"Gray",
"Light gray",
"Dark Gray",
"Cyan"
};
while (!Button.ESCAPE.isDown()) {
LCD.clear();
LCD.drawString(cmps.getVendorID(), 0, 0);
LCD.drawString(cmps.getProductID(), 0, 1);
LCD.drawString(cmps.getVersion(), 9, 1);
LCD.drawString(color, 0, 3);
LCD.drawInt(cmps.getColorID(), 7, 3);
LCD.drawString(colorNames[cmps.getColorID()], 0, 4);
LCD.drawString(r, 0, 5);
LCD.drawInt(cmps.getRGBComponent(Color.RED), 1, 5);
LCD.drawString(g, 5, 5);
LCD.drawInt(cmps.getRGBComponent(Color.GREEN), 6, 5);
LCD.drawString(b, 10, 5);
LCD.drawInt(cmps.getRGBComponent(Color.BLUE), 11, 5);
LCD.refresh();
Thread.sleep(INTERVAL);
}
}
public void run() {
// infinite task
while (true) {
// retrieve decoded opcode info
synchronized (this) {
newDyn = DEObj.getNxtDyn();
newCmd = DEObj.getNxtCmd();
newPos = DEObj.getNxtPos();
curPos = centreMotor.getTachoCount();
DEObj.setCurSteerPos(curPos);
}
;
// steer to newPos, if conditions apply
if ((newCmd != DataExchange.EXIT_CMD) && (newCmd != DataExchange.NULL_CMD)) {
if (oldDyn != newDyn) {
oldDyn = newDyn;
switch (newCmd) {
case DataExchange.STOP_CMD:
isNxtStop = true;
centreMotor.stop();
break;
case DataExchange.CAL_CMD:
centreMotor.rotate(getDeltaPos(newPos, curPos));
LCD.clear(6);
LCD.drawString("CMD:: CALIBRATE", 0, 6);
break;
case DataExchange.START_CMD:
isNxtStop = false;
if (isNxtCalib) {
// calibration is done, the current TachoCount
// position becomes the reference, i.e. "0 deg".
isNxtCalib = false;
centreMotor.resetTachoCount();
curPos = centreMotor.getTachoCount();
}
break;
case DataExchange.RELEASE_CMD:
// when user releases the mouse drag, the vehicle attempts to recover a straight
// drive.
// It simulates what happens naturally in a real car when the driver gets his hands
// off
// the steering upon exiting from a curve.
centreMotor.rotateTo(0);
break;
case DataExchange.FRWD_CMD:
case DataExchange.BKWD_CMD:
if (!isNxtStop) {
centreMotor.rotate(getDeltaPos(newPos, curPos));
}
break;
default:
break;
}
; // switch case
} // if (old != new)
else {
centreMotor.flt();
}
try {
// thread going to sleep
ManageNxtSteering.sleep(50);
} catch (InterruptedException e) {
e.printStackTrace();
LCD.drawString("EX-6:", 0, 5);
LCD.refresh();
}
} // if (new != EXIT_CMD)
else {
if (newCmd == DataExchange.EXIT_CMD) {
centreMotor.stop(); /* stop motor */
break; /* exit while loop */
}
}
} // while loop
DEObj.setNXTdone(true);
}
public void action() {
LCD.clear();
LCD.drawInt(sonar.getDistance(), 0, 0);
LCD.refresh();
}
private static void drawMessage(String message) {
LCD.clear();
LCD.drawString(message, 0, 0);
LCD.refresh();
}
