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LEGO Group 8
LEGO
Commits
3aa7638b
Commit
3aa7638b
authored
Mar 03, 2015
by
Casper
Browse files
Pushed new partyfinder
parent
d9e721d9
Changes
1
Hide whitespace changes
Inline
Side-by-side
lesson3/PartyFinder/src/PartyFinder.java
View file @
3aa7638b
...
...
@@ -3,13 +3,13 @@ public class PartyFinder {
static
final
double
turnDegree
=
0.08797653958
;
static
final
long
sampleInterval
=
25
;
static
MotorPort
leftMotor
=
MotorPort
.
C
;
static
MotorPort
rightMotor
=
MotorPort
.
B
;
static
ADSensorPort
soundSensorLeft
=
SensorPort
.
S2
;
static
ADSensorPort
soundSensorRight
=
SensorPort
.
S3
;
static
int
leftValue
;
static
int
rightValue
;
static
int
diff
;
...
...
@@ -23,38 +23,35 @@ public class PartyFinder {
leftValue
=
soundSensorLeft
.
readRawValue
();
rightValue
=
soundSensorRight
.
readRawValue
();
if
(
leftValue
<
940
&&
rightValue
<
940
)
{
diff
=
leftValue
-
rightValue
;
diff
=
leftValue
-
rightValue
;
if
(
diff
<
0
)
{
// Party is to right
right
(
75
);
}
else
if
(
diff
>
0
)
{
// Party is to left
left
(
75
);
}
else
{
// Party is straight ahead ( or behind you :( )
forward
(
75
);
}
}
else
{
stop
();
if
(
diff
<
0
)
{
// Party is to right
right
(
70
);
}
else
if
(
diff
>
0
)
{
// Party is to left
left
(
70
);
}
else
{
// Party is straight ahead ( or behind you :( )
forward
(
70
);
}
// Debug info
LCD
.
drawInt
(
leftValue
,
4
,
0
,
1
);
LCD
.
drawInt
(
rightValue
,
4
,
0
,
2
);
LCD
.
drawInt
(
diff
,
4
,
0
,
3
);
Thread
.
sleep
(
sampleInterval
);
}
}
public
static
void
stop
()
{
leftMotor
.
controlMotor
(
0
,
MotorPort
.
STOP
);
rightMotor
.
controlMotor
(
0
,
MotorPort
.
STOP
);
}
public
static
void
forward
(
int
power
)
{
leftMotor
.
controlMotor
(
power
,
MotorPort
.
FORWARD
);
...
...
@@ -63,11 +60,11 @@ public class PartyFinder {
public
static
void
left
(
int
power
)
{
leftMotor
.
controlMotor
(
power
,
MotorPort
.
FORWARD
);
rightMotor
.
controlMotor
(
power
/
4
,
MotorPort
.
FORWARD
);
rightMotor
.
controlMotor
(
power
/
3
,
MotorPort
.
FORWARD
);
}
public
static
void
right
(
int
power
)
{
leftMotor
.
controlMotor
(
power
/
4
,
MotorPort
.
FORWARD
);
leftMotor
.
controlMotor
(
power
/
3
,
MotorPort
.
FORWARD
);
rightMotor
.
controlMotor
(
power
,
MotorPort
.
FORWARD
);
}
}
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