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- package com.jcdj1996.final03;
- import java.awt.event.ActionEvent;
- import java.awt.event.ActionListener;
- import javax.swing.Timer;
- import lejos.nxt.*;
- public class Robot implements ActionListener {
- TouchSensor t1 = new TouchSensor(SensorPort.S1);
- Timer timer1 = new Timer(200,this);
- static int speed1, steer1;
- //final03 f1 = new final03();
- public void init()
- {
- timer1.start();
- }
- public void turn(int angle){ //steers robot
- steer1 = angle;
- try{
- Motor.C.setPower(10);
- Motor.C.rotateTo(((int)(angle*4)),true);
- }catch(Exception e)
- {
- System.out.println(e);
- }
- if(!(Motor.A.getLimitAngle()>angle-2)&&!(Motor.A.getLimitAngle()<angle+2))
- {
- turn(angle);
- }
- }
- public void setSpeed(int speed){
- speed1=speed;
- Motor.B.setPower(900);
- if(speed<0) //negative speed means backwards
- {
- Motor.B.setSpeed(speed*-1);
- Motor.B.backward();
- }else{
- Motor.B.setSpeed(speed);
- Motor.B.forward();
- }
- }
- public void fire()
- {
- try{
- if(!Motor.A.isMoving()) //avoid incomplete cycles
- {
- Motor.A.rotate(360); //Rotate Firing motor 360
- }
- }catch(Exception e)
- {
- System.out.println(e);
- }
- }
- public void actionPerformed(ActionEvent arg0) {
- if(t1.isPressed()) //touch is pressed, play tone, update label
- {
- Sound.playTone(500, 500);
- }
- }
- }
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