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Commit 565e5e71 authored by Casper's avatar Casper
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Merge branch 'master' of gitlab.au.dk:lego-group-8/lego

parents faf95056 de0b0707
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lesson6/Vehicle2a.java
View file @ 565e5e71
import lejos.nxt.LCD;
import lejos.nxt.LightSensor;
import lejos.nxt.MotorPort;
import lejos.nxt.SensorPort;
public class Vehicle2a {
static SensorPort portLeft = SensorPort.S2;
static SensorPort portRight = SensorPort.S3;
static MotorPort motorLeft = MotorPort.C;
static MotorPort motorRight = MotorPort.B;
static LightSensor portLeft = new LightSensor(SensorPort.S2);
static LightSensor portRight = new LightSensor(SensorPort.S3);
static MotorPort motorLeft = MotorPort.B;
static MotorPort motorRight = MotorPort.C;
static int rawLeft;
static int rawRight;
static double powerLeft;
......@@ -14,12 +15,17 @@ public class Vehicle2a {
public static void main(String[] args) throws InterruptedException {
LCD.clear();
portLeft.setFloodlight(false);
portRight.setFloodlight(false);
while(true) {
rawLeft = portLeft.readRawValue();
rawRight = portRight.readRawValue();
powerLeft = 100.0 - ((100.0 / 1023.0) * rawLeft) * 2;
powerRight = 100.0 - ((100.0 / 1023.0) * rawRight) * 2;
rawLeft = portLeft.readNormalizedValue() - 139;
rawRight = portRight.readNormalizedValue() - 139;
powerLeft = 50.0 - ((50.0 / 745.0) * rawLeft) * 2;
powerRight = 50.0 - ((50.0 / 745.0) * rawRight) * 2;
powerLeft = (powerLeft < 0) ? powerLeft - 50 : powerLeft + 50;
powerRight = (powerRight < 0) ? powerRight - 50 : powerRight + 50;
motorLeft.controlMotor((int)powerLeft, MotorPort.FORWARD);
motorRight.controlMotor((int)powerRight, MotorPort.FORWARD);
......
lesson6/Vehicle2b.java 0 → 100644
View file @ 565e5e71
import lejos.nxt.LCD;
import lejos.nxt.LightSensor;
import lejos.nxt.MotorPort;
import lejos.nxt.SensorPort;
public class Vehicle2b {
static LightSensor portLeft = new LightSensor(SensorPort.S3);
static LightSensor portRight = new LightSensor(SensorPort.S2);
static MotorPort motorLeft = MotorPort.B;
static MotorPort motorRight = MotorPort.C;
static int rawLeft;
static int rawRight;
static double powerLeft;
static double powerRight;
public static void main(String[] args) throws InterruptedException {
LCD.clear();
portLeft.setFloodlight(false);
portRight.setFloodlight(false);
while(true) {
rawLeft = portLeft.readNormalizedValue() - 139;
rawRight = portRight.readNormalizedValue() - 139;
powerLeft = 50.0 - ((50.0 / 745.0) * rawLeft) * 2;
powerRight = 50.0 - ((50.0 / 745.0) * rawRight) * 2;
powerLeft = (powerLeft < 0) ? powerLeft - 50 : powerLeft + 50;
powerRight = (powerRight < 0) ? powerRight - 50 : powerRight + 50;
motorLeft.controlMotor((int)powerLeft, MotorPort.FORWARD);
motorRight.controlMotor((int)powerRight, MotorPort.FORWARD);
LCD.drawString("RawLeft: ", 0, 0);
LCD.drawInt(rawLeft, 4, 0, 1);
LCD.drawString("PowerLeft: ", 0, 2);
LCD.drawInt((int)powerLeft, 4, 0, 3);
LCD.drawString("RawRight: ", 0, 4);
LCD.drawInt(rawRight, 4, 0, 5);
LCD.drawString("PowerRight: ", 0, 6);
LCD.drawInt((int)powerRight, 4, 0, 7);
}
}
}
lesson6/Vehicle2c.java 0 → 100644
View file @ 565e5e71
import lejos.nxt.LCD;
import lejos.nxt.LightSensor;
import lejos.nxt.MotorPort;
import lejos.nxt.SensorPort;
import lejos.nxt.UltrasonicSensor;
public class Vehicle2c {
static UltrasonicSensor portLeft = new UltrasonicSensor(SensorPort.S2);
static UltrasonicSensor portRight = new UltrasonicSensor(SensorPort.S3);
static MotorPort motorLeft = MotorPort.B;
static MotorPort motorRight = MotorPort.C;
static int rawLeft;
static int rawRight;
static double powerLeft = 75;
static double powerRight = 75;
public static void main(String[] args) throws InterruptedException {
LCD.clear();
while(true) {
rawLeft = portLeft.getDistance();
rawRight = portRight.getDistance();
powerLeft = 0.625 * rawRight + 37.5;
powerRight = 0.625 * rawLeft + 37.5;
motorLeft.controlMotor((int)powerLeft, MotorPort.FORWARD);
motorRight.controlMotor((int)powerRight, MotorPort.FORWARD);
LCD.drawString("RawLeft: ", 0, 0);
LCD.drawInt(rawLeft, 4, 0, 1);
LCD.drawString("PowerLeft: ", 0, 2);
LCD.drawInt((int)powerLeft, 4, 0, 3);
LCD.drawString("RawRight: ", 0, 4);
LCD.drawInt(rawRight, 4, 0, 5);
LCD.drawString("PowerRight: ", 0, 6);
LCD.drawInt((int)powerRight, 4, 0, 7);
}
}
}
lesson6/Vehicle3.java 0 → 100644
View file @ 565e5e71
import lejos.nxt.LCD;
import lejos.nxt.LightSensor;
import lejos.nxt.MotorPort;
import lejos.nxt.SensorPort;
import lejos.nxt.SoundSensor;
import lejos.nxt.UltrasonicSensor;
public class Vehicle3 {
static UltrasonicSensor portLeft = new UltrasonicSensor(SensorPort.S2);
static UltrasonicSensor portRight = new UltrasonicSensor(SensorPort.S3);
static SensorPort soundLeft = SensorPort.S1;
static SensorPort soundRight = SensorPort.S4;
static MotorPort motorLeft = MotorPort.B;
static MotorPort motorRight = MotorPort.C;
static int rawDistanceLeft;
static int rawDistanceRight;
static double powerLeft = 75;
static double powerRight = 75;
static int rawSoundLeft;
static int rawSoundRight;
public static void main(String[] args) throws InterruptedException {
LCD.clear();
soundLeft.setTypeAndMode(SensorPort.TYPE_SOUND_DB,
SensorPort.MODE_PCTFULLSCALE);
soundRight.setTypeAndMode(SensorPort.TYPE_SOUND_DB,
SensorPort.MODE_PCTFULLSCALE);
while(true) {
rawDistanceLeft = Math.min(100, portLeft.getDistance());
rawDistanceRight = Math.min(100, portRight.getDistance());
rawSoundLeft = soundLeft.readRawValue();
rawSoundRight = soundRight.readRawValue();
//powerLeft = 0.625 * rawDistanceRight + 37.5;
//powerRight = 0.625 * rawDistanceLeft + 37.5;
powerLeft = 25 + (25.0 / 100.0) * (double)rawDistanceRight;
powerRight = 25 + (25.0 / 100.0) * (double)rawDistanceLeft;
double soundPowerLeft = 25 + (25.0 / 1023.0) * (double)rawSoundLeft;
double soundPowerRight = 25 + (25.0 / 1023.0) * (double)rawSoundRight;
powerLeft += soundPowerLeft;
powerRight += soundPowerRight;
motorLeft.controlMotor((int)powerLeft, MotorPort.FORWARD);
motorRight.controlMotor((int)powerRight, MotorPort.FORWARD);
LCD.drawString("SoundLeft: ", 0, 0);
LCD.drawInt((int)rawSoundLeft, 4, 0, 1);
LCD.drawString("PowerLeft: ", 0, 2);
LCD.drawInt((int)powerLeft, 4, 0, 3);
LCD.drawString("SoundRight: ", 0, 4);
LCD.drawInt((int)rawSoundRight, 4, 0, 5);
LCD.drawString("PowerRight: ", 0, 6);
LCD.drawInt((int)powerRight, 4, 0, 7);
}
}
}
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