Added initial RampClimber code.

lesson8/Car.java

+import lejos.nxt.*;
+/**
+ * A locomotion module with methods to drive
+ * a car with two independent motors. The left motor 
+ * should be connected to port C and the right motor
+ * to port B.
+ *  
+ * @author  Ole Caprani
+ * @version 17.4.08
+ */
+public class Car 
+{
+    // Commands for the motors
+    private final static int forward  = 1,
+                             backward = 2,
+                             stop     = 3;
+	                         
+    private static MotorPort leftMotor = MotorPort.B;
+    private static MotorPort rightMotor= MotorPort.C;
+	
+    private Car()
+    {	   
+    	
+    } 
+   
+    public static void stop() 
+    {
+	    leftMotor.controlMotor(0,stop);
+	    rightMotor.controlMotor(0,stop);
+    }
+   
+    public static void forward(int leftPower, int rightPower)
+    {
+	    leftMotor.controlMotor(leftPower,forward);
+	    rightMotor.controlMotor(rightPower,forward);
+    }
+   
+    public static void backward(int leftPower, int rightPower)
+    {
+	    leftMotor.controlMotor(leftPower,backward);
+	    rightMotor.controlMotor(rightPower,backward);
+    }
+}

lesson8/RampClimber.java

+import lejos.nxt.Button;
+import lejos.nxt.LCD;
+import lejos.nxt.LightSensor;
+import lejos.nxt.SensorPort;
+
+public class RampClimber {
+
+	public static void main(String[] args) throws Exception {
+		final int power = 80;
+
+		LightSensor lightSensorRight = new LightSensor(SensorPort.S4);
+		LightSensor lightSensorLeft = new LightSensor(SensorPort.S1);
+
+		int blackValue = 397;
+		int whiteValue = 593;
+		int edgeLight = ((blackValue + whiteValue) / 2);
+		
+		LCD.clear();
+		LCD.drawString("Right light: ", 0, 0);
+		LCD.drawString("Left light: ", 0, 1);
+		LCD.drawString("Direction: ", 0, 2);
+
+		while (!Button.ESCAPE.isDown()) {
+			int lightRight = lightSensorRight.readNormalizedValue();
+			int lightLeft = lightSensorLeft.readNormalizedValue() + 45;
+			int rightVector = lightRight - edgeLight;
+			int leftVector = edgeLight - lightLeft;
+ 
+			int direction = (int) ((rightVector * 0.5) + (leftVector * 0.5));
+			direction /= 6;
+			
+			int MAXIMUM_POWER = 100;
+			if (direction < 0) {
+				Car.backward(MAXIMUM_POWER, MAXIMUM_POWER + direction);
+			} else if (direction > 0) {
+				Car.backward(MAXIMUM_POWER - direction, MAXIMUM_POWER);
+			}
+			
+			LCD.drawInt(lightRight, 4, 10, 0);
+			LCD.drawInt(lightLeft, 4, 10, 1);
+			LCD.drawInt(direction, 4, 10, 2);
+			LCD.refresh();
+			//Thread.sleep();
+		}
+
+		Car.stop();
+		LCD.clear();
+		LCD.drawString("Program stopped", 0, 0);
+		LCD.refresh();
+	}
+}
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lesson8/RampClimber2.java

+import lejos.nxt.Button;
+import lejos.nxt.LCD;
+import lejos.nxt.LightSensor;
+import lejos.nxt.SensorPort;
+
+public class RampClimber2 {
+
+	public static void main(String[] args) throws Exception {
+		final int power = 80;
+		int MAXIMUM_POWER = 100;
+
+		LightSensor lightSensorRight = new LightSensor(SensorPort.S4);
+		LightSensor lightSensorLeft = new LightSensor(SensorPort.S1);
+
+		int blackValue = 397;
+		int whiteValue = 593;
+		int edgeLight = ((blackValue + whiteValue) / 2);
+		
+		LCD.clear();
+		LCD.drawString("Right light: ", 0, 0);
+		LCD.drawString("Left light: ", 0, 1);
+		LCD.drawString("Direction: ", 0, 2);
+		
+		Button.waitForAnyPress();
+		
+		Car.backward(96, 100);
+		Thread.sleep(3100);
+		Car.backward(90, 0);
+		Thread.sleep(1500);
+		//Car.backward(96, 100);
+		//Thread.sleep(3500);
+		//Car.backward(0, 100);
+		//Thread.sleep(1000);
+		
+		
+		Car.stop();
+		Button.waitForAnyPress();
+
+		/*
+		while (!Button.ESCAPE.isDown()) {
+			int lightRight = lightSensorRight.readNormalizedValue();
+			int lightLeft = lightSensorLeft.readNormalizedValue() + 45;
+		
+			
+			
+			
+			LCD.drawInt(lightRight, 4, 10, 0);
+			LCD.drawInt(lightLeft, 4, 10, 1);
+			LCD.drawInt(direction, 4, 10, 2);
+			LCD.refresh();
+			//Thread.sleep();
+		}
+		*/
+
+		Car.stop();
+		LCD.clear();
+		LCD.drawString("Program stopped", 0, 0);
+		LCD.refresh();
+	}
+}
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