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- import lejos.hardware.Sound;
- import lejos.hardware.ev3.LocalEV3;
- import lejos.hardware.lcd.LCD;
- import lejos.hardware.motor.EV3LargeRegulatedMotor;
- import lejos.hardware.motor.EV3MediumRegulatedMotor;
- import lejos.hardware.port.MotorPort;
- import lejos.hardware.port.Port;
- import lejos.hardware.sensor.EV3ColorSensor;
- import lejos.hardware.sensor.EV3GyroSensor;
- import lejos.hardware.sensor.EV3TouchSensor;
- import lejos.hardware.sensor.EV3UltrasonicSensor;
- import lejos.hardware.sensor.SensorMode;
- import lejos.hardware.sensor.SensorModes;
- import lejos.robotics.RegulatedMotor;
- public class HelloWorld
- {
- public static final RegulatedMotor MOTORB = new EV3LargeRegulatedMotor(MotorPort.B);
- public static final RegulatedMotor MOTORC = new EV3LargeRegulatedMotor(MotorPort.C);
- public static final RegulatedMotor SERVO = new EV3MediumRegulatedMotor(MotorPort.A);
- public static final EV3UltrasonicSensor SENSOR_SONIC = new EV3UltrasonicSensor(LocalEV3.get().getPort("S4"));
- public static final EV3GyroSensor SENSOR_GYRO = new EV3GyroSensor(LocalEV3.get().getPort("S2"));
- public static final EV3TouchSensor SENSOR_TOUCH = new EV3TouchSensor(LocalEV3.get().getPort("S1"));
- public static final EV3ColorSensor SENSOR_COLOR = new EV3ColorSensor(LocalEV3.get().getPort("S3"));
- public static void main(String[] args)
- {
- float[] sample = new float[SENSOR_TOUCH.sampleSize()];
- SENSOR_TOUCH.fetchSample(sample, 0);
- SensorMode rgbmode = SENSOR_COLOR.getRGBMode();
- LCD.drawString("Select function", 0, 2);
- LCD.drawString("YELLOW: Drive", 0, 3);
- LCD.drawString("BLUE: Dance", 0, 4);
- LCD.drawString("GREEN: ", 0, 5);
- LCD.drawString("RED: ", 0, 6);
- String mode = "";
- while(sample[0] == 0)
- {
- float[] rgb = new float[rgbmode.sampleSize()];
- rgbmode.fetchSample(rgb, 0);
- if (rgb[0] > 0.1 && rgb[1] > 0.1)
- {
- mode = "yellow";
- LCD.drawString("YELLOW selected", 0, 1);
- LCD.drawString("Spank to start", 0, 2);
- }
- else if (rgb[0] > 0.1)
- {
- mode = "red";
- LCD.drawString("RED selected", 0, 1);
- LCD.drawString("Spank to start", 0, 2);
- }
- else if (rgb[1] > 0.1)
- {
- mode = "green";
- LCD.drawString("GREEN selected", 0, 1);
- LCD.drawString("Spank to start", 0, 2);
- }
- else if (rgb[2] > 0.1)
- {
- mode = "blue";
- LCD.drawString("BLUE selected", 0, 1);
- LCD.drawString("Spank to start", 0, 2);
- }
- SENSOR_TOUCH.fetchSample(sample, 0);
- }
- cmd_sayhi();
- }
- public static void cmd_sayhi()
- {
- Sound.systemSound(true, 3);
- SERVO.setSpeed(750);
- SERVO.rotateTo(405);
- SERVO.rotateTo(0);
- SERVO.rotateTo(405);
- SERVO.rotateTo(0);
- }
- public static void cmd_drive()
- {
- LocalEV3.get().getKeys().getButtons();
- }
- }
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