--- /dev/null
+package nl.ru.des;
+
+import java.io.File;
+
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.subsumption.Behavior;
+
+public abstract class AvoidBehaviour implements Behavior {
+ protected EV3LargeRegulatedMotor rightMotor, leftMotor, avoidMotor;
+ private File audioFile;
+
+ public AvoidBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor, File audioFile){
+ this.rightMotor = rightMotor;
+ this.leftMotor = leftMotor;
+ this.avoidMotor = leftMotor;
+ this.audioFile = audioFile;
+ }
+
+ public void setAvoidDirection(boolean avoidLeft){
+ avoidMotor = avoidLeft ? leftMotor : rightMotor;
+ }
+
+ @Override
+ public void action() {
+ WavPlayer.playWav(audioFile);
+ avoidMotor.setAcceleration(6000);
+ avoidMotor.backward();
+ while(takeControl());
+ avoidMotor.forward();
+ avoidMotor.setAcceleration(1000);
+ }
+
+ @Override
+ public void suppress() {
+ avoidMotor.forward();
+ }
+}
\ No newline at end of file
--- /dev/null
+package nl.ru.des;
+
+import java.io.File;
+
+import lejos.hardware.Button;
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.hardware.sensor.EV3UltrasonicSensor;
+import lejos.robotics.SampleProvider;
+
+public class AvoidHighObjectBehaviour extends AvoidBehaviour {
+ private SampleProvider ultrasoneSample;
+ private float[] samples;
+ private float limit;
+
+ public AvoidHighObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
+ EV3UltrasonicSensor ultraSone) {
+ super(leftMotor, rightMotor, new File("detect.wav"));
+ ultrasoneSample = ultraSone.getDistanceMode();
+ samples = new float[ultrasoneSample.sampleSize()];
+ calibrate();
+ }
+
+ private void calibrate(){
+ LCDPrinter.print("Calibrate ultrasone...");
+ LCDPrinter.print("Place object in");
+ LCDPrinter.print(" turn radius");
+ Button.waitForAnyPress();
+ ultrasoneSample.fetchSample(samples, 0);
+ limit = samples[0];
+ LCDPrinter.print("Limit: " + limit);
+ }
+
+ @Override
+ public boolean takeControl() {
+ ultrasoneSample.fetchSample(samples, 0);
+ return samples[0] < limit;
+ }
+}
\ No newline at end of file
--- /dev/null
+package nl.ru.des;
+
+import java.io.File;
+
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.hardware.sensor.EV3TouchSensor;
+import lejos.robotics.SampleProvider;
+import lejos.utility.Delay;
+
+public class AvoidLowObjectBehaviour extends AvoidBehaviour {
+ private SampleProvider rightSample, leftSample;
+ private float[] samples;
+ private long lastPush = 0;
+
+ public AvoidLowObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
+ EV3TouchSensor leftTouch, EV3TouchSensor rightTouch) {
+ super(leftMotor, rightMotor, new File("bump.wav"));
+ rightSample = rightTouch.getTouchMode();
+ leftSample = leftTouch.getTouchMode();
+ samples = new float[rightTouch.sampleSize()];
+ }
+
+ @Override
+ public boolean takeControl() {
+ //Check if left sensor is pressed
+ leftSample.fetchSample(samples, 0);
+ boolean takeControl = false;
+ if(samples[0] == 1){
+ super.setAvoidDirection(false);
+ takeControl = true;
+ lastPush = System.currentTimeMillis();
+ }
+
+ //Check if right sensor is pressed
+ rightSample.fetchSample(samples, 0);
+ if(samples[0] == 1){
+ super.setAvoidDirection(true);
+ takeControl = true;
+ lastPush = System.currentTimeMillis();
+ }
+ return takeControl || System.currentTimeMillis()-lastPush < 1000;
+ }
+
+ @Override
+ public void action() {
+ rightMotor.backward();
+ leftMotor.backward();
+ Delay.msDelay(200);
+ leftMotor.forward();
+ rightMotor.forward();
+ super.action();
+ }
+}
\ No newline at end of file
import lejos.hardware.Key;
import lejos.hardware.KeyListener;
-import lejos.hardware.lcd.LCD;
-import lejos.utility.Delay;
class ButtonListener implements KeyListener {
@Override
public void keyPressed(Key k) {
- LCD.clear();
- LCD.drawString("Bye...", 0, 0);
- Delay.msDelay(500);
+ LCDPrinter.shutdown("Bye...");
System.exit(0);
}
+++ /dev/null
-package nl.ru.des;
-
-import lejos.robotics.subsumption.Behavior;
-
-class LCDPrintr implements Behavior{
-
- @Override
- public boolean takeControl() {
- return false;
- }
-
- @Override
- public void action() {
- // TODO Auto-generated method stub
-
- }
-
- @Override
- public void suppress() {
- // TODO Auto-generated method stub
-
- }
-
-}
\ No newline at end of file
--- /dev/null
+package nl.ru.des;
+
+import java.util.LinkedList;
+import java.util.Queue;
+
+import lejos.hardware.lcd.LCD;
+import lejos.utility.Delay;
+
+public class LCDPrinter extends Thread{
+ public static final int PRINTDELAY = 250;
+
+ private static Queue<String> buffer = new LinkedList<String>();
+ private static boolean shutdown = false;
+
+ public static void print(String s){
+ buffer.add(s);
+ }
+
+ public void run(){
+ int y = 0;
+ while(!shutdown || (shutdown && !buffer.isEmpty())){
+ if(!buffer.isEmpty()){
+ LCD.clear(y);
+ LCD.clear(Math.max(0, y+1));
+ LCD.drawString(buffer.remove(), 0, y);
+ y = y < LCD.DISPLAY_CHAR_DEPTH-1 ? y + 1 : 0;
+ }
+ Delay.msDelay(PRINTDELAY);
+ }
+ }
+
+ public static void shutdown(String s) {
+ buffer.add(s);
+ shutdown = true;
+ while(!buffer.isEmpty()){
+ Delay.msDelay(200);
+ }
+ }
+}
\ No newline at end of file
package nl.ru.des;
+import java.io.File;
+
+import lejos.hardware.Audio;
+import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.hardware.port.MotorPort;
+import lejos.hardware.sensor.EV3TouchSensor;
+import lejos.hardware.sensor.EV3UltrasonicSensor;
+import lejos.hardware.sensor.NXTLightSensor;
import lejos.robotics.subsumption.Arbitrator;
import lejos.robotics.subsumption.Behavior;
+import lejos.utility.Delay;
public class Main {
public static void main(String[] args) {
- LocalEV3.get().getKey("Escape").addKeyListener(new ButtonListener());
- Behavior[] behaviorList = new Behavior[]{
- new WandererBehaviour(),
- //new StayInFieldBehaviour(),
+ LCDPrinter lcdprinter = new LCDPrinter();
+ LCDPrinter.print("Starting up");
+ lcdprinter.start();
+ LCDPrinter.print("Brick...");
+ EV3 brick = LocalEV3.get();
+
+ LCDPrinter.print("Audio...");
+ Audio audio = brick.getAudio();
+ WavPlayer wavplayer = new WavPlayer(audio);
+ wavplayer.start();
+ WavPlayer.playWav(new File("bootaudio.wav"));
+
+ LCDPrinter.print("Keylistener...");
+ brick.getKey("Escape").addKeyListener(new ButtonListener());
+
+ //Get motors
+ LCDPrinter.print("Motors...");
+ EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
+ EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
+ rightMotor.setSpeed(300);
+ leftMotor.setSpeed(300);
+ rightMotor.setAcceleration(1000);
+ leftMotor.setAcceleration(1000);
+
+ //Get sensors
+ LCDPrinter.print("Touch...");
+ EV3TouchSensor leftTouch = new EV3TouchSensor(brick.getPort("S1"));
+ EV3TouchSensor rightTouch = new EV3TouchSensor(brick.getPort("S4"));
+ LCDPrinter.print("Light...");
+ NXTLightSensor lightSensor = new NXTLightSensor(brick.getPort("S2"));
+ LCDPrinter.print("Ultrasone...");
+ EV3UltrasonicSensor ultraSensor = new EV3UltrasonicSensor(brick.getPort("S3"));
+
+ WavPlayer.playWav(new File("bootsystem.wav"));
+
+ //Initialize behaviours
+ LCDPrinter.print("Behaviours...");
+ Behavior[] behaviorList = new Behavior[] {
+ new WandererBehaviour(leftMotor, rightMotor),
+ new AvoidHighObjectBehaviour(leftMotor, rightMotor, ultraSensor),
+ new AvoidLowObjectBehaviour(leftMotor, rightMotor, leftTouch, rightTouch),
+ new StayInFieldBehaviour(lightSensor, leftMotor, rightMotor),
};
+
+ WavPlayer.playWav(new File("calibrate.wav"));
+
+ LCDPrinter.print("Arbitrator...");
Arbitrator arb = new Arbitrator(behaviorList);
+
+ WavPlayer.playWav(new File("takeoff.wav"));
+ Delay.msDelay(1850);
+ LCDPrinter.print("Takeoff!");
arb.start();
+ lightSensor.close();
+ ultraSensor.close();
}
-}
+}
\ No newline at end of file
+package nl.ru.des;
+
+import java.io.File;
+
+import lejos.hardware.Button;
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.hardware.sensor.NXTLightSensor;
+import lejos.robotics.SampleProvider;
+
+public class StayInFieldBehaviour extends AvoidBehaviour{
+ private SampleProvider light;
+ private float[] samples;
+ private float black, white, dist;
+
+ public StayInFieldBehaviour(NXTLightSensor lightSensor, EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor) {
+ super(rightMotor, leftMotor, new File("bound.wav"));
+ light = lightSensor.getRedMode();
+ samples = new float[light.sampleSize()];
+ calibrate();
+ dist = Math.abs(black-white);
+ }
+
+ private void calibrate(){
+ LCDPrinter.print("Calibrate Light...");
+ //Get the black value
+ LCDPrinter.print("Place on black");
+ Button.waitForAnyPress();
+ light.fetchSample(samples, 0);
+ black = samples[0];
+ LCDPrinter.print("Black: " + black);
+
+ //Get the white value
+ LCDPrinter.print("Place on white");
+ Button.waitForAnyPress();
+ light.fetchSample(samples, 0);
+ white = samples[0];
+ LCDPrinter.print("White: " + white);
+
+ //Calculate the delta
+ dist = Math.abs(black-white);
+ }
+
+ @Override
+ public boolean takeControl() {
+ this.light.fetchSample(samples, 0);
+ return samples[0] < Math.abs(white - dist/2);
+ }
+}
\ No newline at end of file
package nl.ru.des;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
-import lejos.hardware.port.MotorPort;
import lejos.robotics.subsumption.Behavior;
public class WandererBehaviour implements Behavior {
private EV3LargeRegulatedMotor leftMotor, rightMotor;
- public WandererBehaviour(){
- leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
- leftMotor.setSpeed(10000);
- rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
- rightMotor.setSpeed(10000);
+ public WandererBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor){
+ this.leftMotor = leftMotor;
+ this.rightMotor = rightMotor;
}
@Override
@Override
public void suppress() {
- leftMotor.stop(true);
- rightMotor.stop();
}
}
\ No newline at end of file
--- /dev/null
+package nl.ru.des;
+
+import java.io.File;
+
+import lejos.hardware.Audio;
+import lejos.utility.Delay;
+
+public class WavPlayer extends Thread{
+ private static File current;
+ private Audio audio = null;
+
+ public static void playWav(File c){
+ current = c;
+ }
+
+ public WavPlayer(Audio audio){
+ this.audio = audio;
+ audio.setVolume(100);
+ }
+
+ @Override
+ public void run(){
+ while(true){
+ if(current != null){
+ audio.playSample(current);
+ current = null;
+ }
+ Delay.msDelay(200);
+ }
+ }
+}
\ No newline at end of file
--- /dev/null
+echo "Audio system loaded" | espeak --stdout | sox - -r 8000 -b 8 bootaudio.wav
+echo "Ready for calibration" | espeak --stdout | sox - -r 8000 -b 8 bootsystem.wav
+echo "Succesfull calibration" | espeak --stdout | sox - -r 8000 -b 8 calibrate.wav
+echo "Takeoff in 3 2 1 go" | espeak --stdout | sox - -r 8000 -b 8 takeoff.wav
+echo "Almost out of bounds" | espeak --stdout | sox - -r 8000 -b 8 bounds.wav
+echo "Bumped against low object" | espeak --stdout | sox - -r 8000 -b 8 bump.wav
+echo "Detected big object" | espeak --stdout | sox - -r 8000 -b 8 detect.wav
repositories / des2015.git / commitdiff