Lesson6

lesson6/Vehicle1.java

+import lejos.nxt.*;
+
+public class Vehicle1 {
+	static SensorPort port = SensorPort.S2;
+	static MotorPort motorLeft = MotorPort.C;
+	static MotorPort motorRight = MotorPort.B;
+	static int raw;
+	static double power;
+	
+	public static void main(String[] args) throws InterruptedException {
+		LCD.clear();
+		
+		while(true) {
+			raw = port.readRawValue();
+//			Map 0 to 100
+//			power = 100.0 - ((100.0 / 1023.0) * raw);
+//			Map -100 to 100
+			power = 100.0 - ((100.0 / 1023.0) * raw) * 2;
+			motorLeft.controlMotor((int)power, MotorPort.FORWARD);
+			motorRight.controlMotor((int)power, MotorPort.FORWARD);
+			
+			LCD.drawString("Raw: ", 0, 0);
+			LCD.drawInt(raw,  4,  0, 1);
+			LCD.drawString("Power: ", 0, 2);
+			LCD.drawInt((int)power,  4,  0, 3);
+		}
+		
+	}
+
+}

lesson6/Vehicle2a.java

+import lejos.nxt.LCD;
+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 int rawLeft;
+	static int rawRight;
+	static double powerLeft;
+	static double powerRight;
+	
+	public static void main(String[] args) throws InterruptedException {
+		LCD.clear();
+		
+		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;
+			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);
+		}
+		
+	}
+
+}