Added Lab 2 Folder.

Lab 2/Lesson1programs/DataLogger.java

+import lejos.nxt.*;
+import java.io.*;
+/**
+ * A simple data logger that can be used to sample a sequence
+ * of integer data values in a flash file. The
+ * file is a text consisting of a sequence of lines with
+ * a time value and a sample data value separated by a comma.
+ * 
+ * When data has been sampled the flash file can be transfered to a
+ * PC by means of the tool nxjbrowse.
+ * 
+ * @author  Ole Caprani
+ * @version 4.02.13
+ */
+public class DataLogger 
+{
+    private File f;
+    private FileOutputStream fos;
+    private int startTime;
+
+    public DataLogger (String fileName)
+    {
+        try
+        {	        
+            f = new File(fileName);
+            if( ! f.exists() )
+            {
+                f.createNewFile();
+            }
+            else
+            {
+                f.delete();
+                f.createNewFile();
+            }
+             
+            fos = new  FileOutputStream(f);
+        }
+        catch(IOException e)
+        {
+            LCD.drawString(e.getMessage(),0,0);
+            System.exit(0);
+        }
+        startTime = (int)System.currentTimeMillis();
+    }
+    
+    public void start()
+    {
+    	startTime = (int)System.currentTimeMillis();
+    }
+	
+    public void writeSample( int time, int sample )
+    {
+		
+        try
+        {
+            Integer timeInt = new Integer(time);
+            String timeString = timeInt.toString();
+            
+            Integer sampleInt = new Integer(sample);
+            String sampleString = sampleInt.toString();
+            
+            for(int i=0; i<timeString.length(); i++)
+            {
+                fos.write((byte) timeString.charAt(i));
+            }
+            
+            // Separate items with comma
+            fos.write((byte)(','));
+            
+            for(int i=0; i<sampleString.length(); i++)
+            {
+                fos.write((byte) sampleString.charAt(i));
+            }
+
+            // New line
+            fos.write((byte)('\r'));
+            fos.write((byte)('\n'));				
+
+        }
+        catch(IOException e)
+        {
+            LCD.drawString(e.getMessage(),0,0);
+            System.exit(0);
+        }
+    }
+    
+    public void writeSample( int sample )
+    {
+    	writeSample((int)System.currentTimeMillis() - startTime, sample);
+    }
+    
+    public void close()
+    {
+        try
+        {
+            fos.close();
+        }
+        catch(IOException e)
+        {
+            LCD.drawString(e.getMessage(),0,0);
+            System.exit(0);
+        }		 
+    }
+}
+

Lab 2/Lesson1programs/HelloWorld.java

+import lejos.nxt.Button;
+
+/**
+ * Example leJOS Project with an ant build file
+ */
+public class HelloWorld {
+
+	public static void main(String[] args) {
+		System.out.println("Hello World");
+		Button.waitForAnyPress();
+	}
+}

Lab 2/Lesson1programs/LineFollower.java

+import lejos.nxt.*;
+/**
+ * A simple line follower for the LEGO 9797 car with
+ * a single light sensor.
+ * 
+ * The light sensor should be connected to port 3. The
+ * left motor should be connected to port C and the right 
+ * motor to port B.
+ * 
+ * Variables initialized with a constant string are used 
+ * in the LCD.drawString calls of the control loop to 
+ * avoid frequent garbage collection. 
+ * 
+ * @author  Ole Caprani
+ * @version 4.02.12
+ */
+public class LineFollower 
+{
+	
+	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;
+		
+		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);
+		while (! Button.ESCAPE.isDown())
+		{
+			
+			if (light.readValue() > 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(light.readValue(), 3, 9, 0);
+
+			Thread.sleep(10);
+			
+		}
+		
+		// Stop car gently with free wheel drive
+		MotorPort.B.controlMotor(0,flt);
+		MotorPort.C.controlMotor(0,flt);
+		LCD.clear();
+		LCD.drawString("Program stopped", 0, 0);
+		Thread.sleep(2000);
+	}
+}
+

Lab 2/Lesson1programs/SLineFollower.java

+import lejos.nxt.*;
+/**
+ * A simple line follower for the LEGO 9797 car with
+ * a single light sensor.
+ * 
+ * The light sensor should be connected to port 3. The
+ * left motor should be connected to port C and the right 
+ * motor to port B.
+ * 
+ * Variables initialized with a constant string are used 
+ * in the LCD.drawString calls of the control loop to 
+ * avoid garbage collection. 
+ * 
+ * @author  Ole Caprani
+ * @version 4.02.13
+ */
+public class SLineFollower {
+	
+	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("Sample.txt");
+		int lightValue;
+		
+		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);
+		
+		// Start datalogging
+		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(lightValue);
+			Thread.sleep(20);
+			
+		}
+		
+		// Stop car gently with free wheel drive
+		MotorPort.B.controlMotor(0,flt);
+		MotorPort.C.controlMotor(0,flt);
+		LCD.clear();
+		// Close datalogger
+		dl.close();
+		LCD.drawString("Program stopped", 0, 0);
+		Thread.sleep(2000);
+	}
+}
+

Lab 2/Lesson1programs/SensorPortTest.java

+
+import lejos.nxt.Button;
+import lejos.nxt.LCD;
+import lejos.nxt.SensorPort;
+
+/**
+ * Test of raw values from a light sensor connected to SensorPort S3
+ * 
+ * @author Ole Caprani
+ * @version 17.01.15
+ */
+public class SensorPortTest 
+{
+	public static void main(String[] args)
+	throws Exception
+	{
+		SensorPort port = SensorPort.S3;
+		
+		// Initialize the sensor port with the TYPE and MODE
+		// of the sensor connected to the port otherwise 
+		// readRawValue will return -1. 
+		port.setTypeAndMode(SensorPort.TYPE_LIGHT_ACTIVE, SensorPort.MODE_RAW);
+		
+		LCD.drawString("SensorPort Test:", 0, 0);
+		
+		while(!Button.ESCAPE.isDown()) 
+		{			
+			LCD.drawString("Raw: " + port.readRawValue(), 0, 2);
+		}
+		
+		LCD.clear();
+		LCD.drawString("Program stopped", 0, 0);
+		Thread.sleep(2000);
+	}
+}

Lab 2/Sample2.txt

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