WallyHackenslacker/NxtAR-bot
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Added light sensor calibration and motor control.

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Wally Hackenslacker
2014-04-01 15:43:59 -04:30
parent aff56cc8bd
commit 0ebcbb3ce3
4 changed files with 174 additions and 54 deletions
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75
src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java
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@@ -19,19 +19,58 @@ import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import lejos.nxt.Button;
import lejos.nxt.ButtonListener;
import lejos.nxt.LightSensor;
import lejos.nxt.Motor;
import lejos.nxt.SensorPort;
import lejos.nxt.comm.Bluetooth;
import lejos.nxt.comm.NXTConnection;
import ve.ucv.ciens.ccg.nxtarbot.threads.CommRecv;
import ve.ucv.ciens.ccg.nxtarbot.threads.CommSend;
import ve.ucv.ciens.ccg.nxtarbot.threads.MotorControlThread;
import ve.ucv.ciens.ccg.nxtarbot.threads.SensorReportThread;
public class NxtAR_bot{
private static DataOutputStream dataOutputStream;
private static DataInputStream dataInputStream;
private static NXTConnection bluetoothConnection;
private static CommRecv recv;
private static CommSend send;
private static MotorControlThread recvThread;
private static SensorReportThread sendThread;
private static void quit(){
if(recvThread != null) recvThread.finish();
if(sendThread != null) sendThread.finish();
if(bluetoothConnection != null){
try{
dataOutputStream.close();
dataInputStream.close();
}catch(IOException io){
System.out.println(io.getMessage());
}
bluetoothConnection.close();
}
}
public static void main(String[] args){
Motor.A.resetTachoCount();
Motor.B.resetTachoCount();
Motor.C.resetTachoCount();
LightSensor lightSensor = new LightSensor(SensorPort.S1);
lightSensor.setFloodlight(false);
System.out.println("Point at dark and press ENTER");
Button.ENTER.waitForPress();
lightSensor.calibrateLow();
System.out.println("--/--");
System.out.println("Point at light and press ENTER");
Button.ENTER.waitForPress();
lightSensor.calibrateHigh();
System.out.println("--/--");
Button.ESCAPE.addButtonListener(new QuitButtonListener());
bluetoothConnection = Bluetooth.waitForConnection();
bluetoothConnection.setIOMode(NXTConnection.RAW);
dataOutputStream = bluetoothConnection.openDataOutputStream();
@@ -39,23 +78,27 @@ public class NxtAR_bot{
System.out.println("Connected");
send = new CommSend(dataOutputStream);
recv = new CommRecv(dataInputStream);
sendThread = new SensorReportThread(dataOutputStream, lightSensor);
recvThread = new MotorControlThread(dataInputStream);
recv.start();
send.start();
recvThread.start();
sendThread.start();
try{
recv.join();
send.join();
recvThread.join();
sendThread.join();
}catch(InterruptedException i){ }
try{
dataOutputStream.close();
dataInputStream.close();
}catch(IOException io){
System.out.println(io.getMessage());
quit();
}
private static class QuitButtonListener implements ButtonListener{
@Override
public void buttonPressed(Button b) {
quit();
}
bluetoothConnection.close();
@Override
public void buttonReleased(Button b){ }
}
}