diff --git a/Exercise6.nxd b/Exercise6.nxd
deleted file mode 100644
index a1726817fe48459a3db325e4c8b283e07ecff760..0000000000000000000000000000000000000000
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diff --git a/Exercise6.nxj b/Exercise6.nxj
deleted file mode 100644
index f85e3d79e25d546c87eaab8f85292506ad416577..0000000000000000000000000000000000000000
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diff --git a/SoundCtrCar.nxd b/SoundCtrCar.nxd
deleted file mode 100644
index 0f9c6f2db1d8bd299c1e70b9e7c397eed3cf0728..0000000000000000000000000000000000000000
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diff --git a/SoundCtrCar.nxj b/SoundCtrCar.nxj
deleted file mode 100644
index b825811c45132e15693ad2f38f4397f65cb83fd8..0000000000000000000000000000000000000000
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diff --git a/VID_20160229_134747.mp4 b/VID_20160229_134747.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d65789ffc87112de4286b41cb9f49675f0dffec
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diff --git a/bin/Exercise6.class b/bin/Exercise6.class
index cdc678ce84ec30b5b39cd215e102313e9b2df542..61b122920d279d0ee2ded40c43b3a2e5118861e9 100644
Binary files a/bin/Exercise6.class and b/bin/Exercise6.class differ
diff --git a/bin/SoundCtrCar$1.class b/bin/SoundCtrCar$1.class
index 8db5f57b90a79d0ba10153a97eaabfe4bf140101..412e584bc235ced10e85fa6d3d2943f47ceefada 100644
Binary files a/bin/SoundCtrCar$1.class and b/bin/SoundCtrCar$1.class differ
diff --git a/bin/SoundCtrCar.class b/bin/SoundCtrCar.class
index 8fbdca7594f44fe22cd25bb3e530d7bda14a2698..2a3e201c00986a27a3791fda6a5c3df1af7ae541 100644
Binary files a/bin/SoundCtrCar.class and b/bin/SoundCtrCar.class differ
diff --git a/src/Exercise6.java b/src/Exercise6.java
index bd8eeb1394a3e08e9c47182d0c8749b982f9a94f..68929324e7da1c4f05dbc3544d0184da8316ebaf 100644
--- a/src/Exercise6.java
+++ b/src/Exercise6.java
@@ -57,13 +57,13 @@ public class Exercise6 //party finder
LCD.drawString("right "+soundLevelRight,0,2);
dl1.writeSample(soundLevelLeft);
- dl1.writeSample(soundLevelRight);
+ dl2.writeSample(soundLevelRight);
//Car.forward(0, 100);
Car.stop();
}
- dl1.close();
dl2.close();
+ dl1.close();
Car.stop();
LCD.clear();
LCD.drawString("Program stopped", 0, 0);
diff --git a/src/SoundCtrCar.java b/src/SoundCtrCar.java
index 3082145e4302f8a9e580fa085e00db29e8f20f98..cd0d641af93db22f05cfbf2e20e591ea5726eab9 100644
--- a/src/SoundCtrCar.java
+++ b/src/SoundCtrCar.java
@@ -6,64 +6,29 @@ import lejos.nxt.*;
* @author Ole Caprani
* @version 23.08.07
*/
-public class SoundCtrCar
+public class SoundCtrCar
{
+ private static int soundDiff = 50;
+ private static int turnPower = 20;
private static int soundThreshold = 90;
private static boolean stopped = false;
- private static SoundSensor sound = new SoundSensor(SensorPort.S1);
- private static DataLogger dl;
-
- private static void waitForLoudSound() throws Exception
- {
- int soundLevel;
-
- Thread.sleep(500);
- do
- {
- soundLevel = sound.readValue();
- LCD.drawInt(soundLevel,4,10,0);
-
-
- }while (!stopped && soundLevel<soundThreshold);
- }
+ private static int bias = 40;
+ private static int power = 80;
+ private static SoundSensor left = new SoundSensor(SensorPort.S1);
+ private static SoundSensor right = new SoundSensor(SensorPort.S2);
- private static void waitForClap() throws Exception
- {
- int soundLevel;
- boolean clapDetected = false;
- do
- {
- soundLevel = sound.readValue();
- dl.writeSample(soundLevel);
- if(soundLevel < 50){
- Thread.sleep(25);
- soundLevel = sound.readValue();
- dl.writeSample(soundLevel);
- if(soundLevel > 85){
- Thread.sleep(250);
- soundLevel = sound.readValue();
- dl.writeSample(soundLevel);
- if(soundLevel < 50){
- clapDetected = true;
-
- }
- }
- }else{
- Thread.sleep(25);
- }
-
- LCD.drawInt(soundLevel,3,7,0);
- }
- while ( !clapDetected && !stopped);
- }
+
+ private static ADSensorPort sp1 = SensorPort.S1;
+ private static ADSensorPort sp2 = SensorPort.S2;
+
public static void main(String [] args) throws Exception
- {
- LCD.drawString("dB level: ",0,0);
- LCD.refresh();
-
- dl = new DataLogger("Sample.txt");
+ {
+ //sp1.setTypeAndMode(0, 0);
+ //sp2.setTypeAndMode(0, 0);
+
+
Button.ESCAPE.addButtonListener(
new ButtonListener(){
public void buttonPressed(Button b) {
@@ -83,24 +48,34 @@ public class SoundCtrCar
while (!stopped)
- {
- waitForClap();
- LCD.drawString("Forward ",0,1);
- Car.forward(100, 100);
-
- waitForClap();
- LCD.drawString("Right ",0,1);
- Car.forward(100, 0);
-
- waitForClap();
- LCD.drawString("Left ",0,1);
- Car.forward(0, 100);
+ {
+ Car.forward(power, power);
+
+ Thread.sleep(250);
+
+ int leftVal = 1023-sp1.readRawValue();
+ int rightVal = 1023-sp2.readRawValue();
+
+ LCD.drawString("left: "+leftVal,0,0);
+ LCD.drawString("right: "+rightVal,0,1);
+ LCD.refresh();
+
+
+
+ if(rightVal > leftVal-bias +soundDiff){
+ Car.forward(power, -power); //turn right
+ }
+ else if(leftVal-bias > soundDiff+rightVal){
+ Car.forward(-power, power); //turn left
+ }else{
+
+ Car.forward(power, power);
+ Thread.sleep(100);}
+
+ Thread.sleep(100);
- waitForClap();
- LCD.drawString("Stop ",0,1);
- Car.stop();
+
}
- dl.close();
Car.stop();
LCD.clear();
LCD.drawString("Program stopped", 0, 0);