public static void main(String[] args) {
try {
Thread.setDefaultUncaughtExceptionHandler(new ThreadHandler());
Sound.playTone(2000, 300);
BtReceiver btReceiver = new BtReceiver();
btReceiver.connect();
} catch (Exception e) {
Sound.buzz();
System.out.println("Main: exception");
System.out.println(e.toString());
System.out.print(e.getMessage());
Utils.sleep(1000);
Button.waitForAnyPress();
System.exit(0);
}
}
// The recognize() method returns true if the object is a blue block
public boolean recognize() {
// Boolean that determines whether or not to start detecting what kind of object is in front
boolean isRecognizing = true;
while (isRecognizing) {
// The robot will drive slowly if the light reads under 300, which means an object is closeby
while (color.getNormalizedLightValue() < 300) {
robot.setForwardSpeed(2);
}
// When the robot is close enough to the object, it will stop then turn on its
// blue light which gives two noticeable different light values for a wooden and blue
// block
robot.setForwardSpeed(0);
color.setFloodlight(Color.BLUE);
// If the light value of blue reads over 250, it is a blue block
if (color.getNormalizedLightValue() >= 250) {
Sound.beep();
LCD.drawString("Blue styrofoam block", 3, 5);
// Turn the default light back on after analyzing an object
color.setFloodlight(true);
return true;
} else { // If it is not a blue block, it is a wooden block
Sound.buzz();
LCD.drawString("Wooden block", 3, 5);
// Turn the default light back on after analyzing an object
color.setFloodlight(true);
}
// Set the boolean to false to break out of the while loop and stop analyzing the object
isRecognizing = false;
}
// Default return value. It should never get here but JAVA requires a return type
return false;
}
public void run() {
System.out.println("Connecting to " + name);
conn = Bluetooth.connect(Bluetooth.getKnownDevice(name));
conn.setIOMode(NXTConnection.PACKET);
dis = conn.openDataInputStream();
dos = conn.openDataOutputStream();
System.out.println("NXT connected");
// Request dimensions
try {
dos.writeByte(3);
dos.flush();
} catch (IOException e1) {
}
try {
while (true) {
byte type = dis.readByte();
switch (type) {
case 1:
byte slot = dis.readByte();
byte state = dis.readByte();
states[slot] = state;
break;
case 3:
slotCount = dis.readByte();
stateCount = dis.readByte();
break;
case 127:
EStop.thread.activate = true;
break;
}
}
} catch (IOException e) {
Sound.buzz();
System.out.println("Comm dropped to " + name);
}
}