lejos_NXJ_win32_0_6_0beta.zip

[nxt-jsp/lejos_nxj.git] / nxtOSEK / lejos_nxj / samples / LatteboxTest / LatteboxTest.java

diff --git a/nxtOSEK/lejos_nxj/samples/LatteboxTest/LatteboxTest.java b/nxtOSEK/lejos_nxj/samples/LatteboxTest/LatteboxTest.java
new file mode 100644 (file)
index 0000000..d97ffad
--- /dev/null
+++ b/nxtOSEK/lejos_nxj/samples/LatteboxTest/LatteboxTest.java
@@ -0,0 +1,77 @@
+\r
+import lejos.nxt.*;\r
+\r
+public class LatteboxTest{\r
+       private static NXTe NXTeObj;\r
+       private static DebugMessages dm;\r
+       private static int angle;\r
+       private static int motion;\r
+       \r
+       //Main\r
+       public static void main(String[] args) throws Exception{\r
+               dm = new DebugMessages();\r
+               dm.setLCDLines(6);\r
+               dm.echo("Testing NXTe");\r
+               \r
+               try{\r
+\r
+                       NXTeObj = new NXTe(SensorPort.S1);//NXTe Controller pluged in Port1\r
+                       NXTeObj.addLSC(0);\r
+                       dm.echo("Calibrating LSC");                     \r
+                       NXTeObj.LSC(0).addServo(0,"SAVOX, Digital SC-0352");\r
+                       NXTeObj.LSC(0).addServo(1,"SAVOX, Digital SC-0352");\r
+                       //NXTeObj.LSC(0).addServo(2,"HITEC, HS-785HB");\r
+                       NXTeObj.LSC(0).calibrate();                     \r
+                       dm.echo("Load all servos");\r
+                       NXTeObj.LSC(0).loadAllServos();\r
+                       dm.echo(NXTeObj.LSC(0).Servo(0).getName());\r
+                       NXTeObj.LSC(0).Servo(0).setMinAngle(200);\r
+                       NXTeObj.LSC(0).Servo(0).setMaxAngle(1700);\r
+                       \r
+                       NXTeObj.LSC(0).Servo(0).setDelay(1, 2);\r
+                       \r
+                       while(!Button.ESCAPE.isPressed()){\r
+\r
+                               if (Button.LEFT.isPressed()){\r
+                                       //NXTeObj.LSC(0).Servo(0).setAngle(1, 400);\r
+                                       NXTeObj.LSC(0).Servo(0).goToMinAngle();                         \r
+                                       while(NXTeObj.LSC(0).Servo(0).isMoving() == true){\r
+                                               //dm.echo(NXTeObj.LSC(0).Servo(0).readMotion());\r
+                                       }\r
+                                       angle = NXTeObj.LSC(0).Servo(0).getAngle(1);\r
+                                       \r
+                                       dm.echo("Goto Min");\r
+                                       dm.echo(angle);\r
+                               }\r
+\r
+                               if (Button.ENTER.isPressed()){\r
+                                       NXTeObj.LSC(0).Servo(0).goToMiddleAngle();\r
+                                       while(NXTeObj.LSC(0).Servo(0).isMoving() == true){\r
+                                               //dm.echo(NXTeObj.LSC(0).Servo(0).readMotion());\r
+                                       }\r
+                                       angle = NXTeObj.LSC(0).Servo(0).getAngle(1);                                                            \r
+                                       \r
+                                       dm.echo("Goto Middle");\r
+                                       dm.echo(angle);\r
+                               }\r
+                               \r
+                               if (Button.RIGHT.isPressed()){\r
+                                       //NXTeObj.LSC(0).Servo(0).setAngle(1, 2000);\r
+                                       NXTeObj.LSC(0).Servo(0).goToMaxAngle();\r
+                                       while(NXTeObj.LSC(0).Servo(0).isMoving() == true){\r
+                                               //dm.echo(NXTeObj.LSC(0).Servo(0).readMotion());\r
+                                       }\r
+                                       angle = NXTeObj.LSC(0).Servo(0).getAngle(1);                                                            \r
+                                       \r
+                                       dm.echo("Goto Middle");\r
+                                       dm.echo(angle);\r
+                               }                                               \r
+                       }\r
+                       \r
+               }catch(Exception e){\r
+                       dm.echo(e.getMessage());\r
+               }\r
+\r
+               dm.echo("Test finished");\r
+       }\r
+}\r