lejos_NXJ_win32_0_6_0beta.zip

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

diff --git a/nxtOSEK/lejos_nxj/samples/SpeedTest/SpeedTest.java b/nxtOSEK/lejos_nxj/samples/SpeedTest/SpeedTest.java
index 1965f60..9358d70 100644 (file)
--- a/nxtOSEK/lejos_nxj/samples/SpeedTest/SpeedTest.java
+++ b/nxtOSEK/lejos_nxj/samples/SpeedTest/SpeedTest.java
@@ -1,3 +1,4 @@
+import java.util.*;
 import lejos.nxt.*;
 
 public class SpeedTest {
@@ -6,20 +7,25 @@ public class SpeedTest {
 
  public static void main(String [] args) throws Exception {
   byte A = 0;
+  Random rand = new Random();
   LightSensor ls = new LightSensor(SensorPort.S3);
   UltrasonicSensor us = new UltrasonicSensor(SensorPort.S1);
+  Motor MA = Motor.A;
+  Motor MB = Motor.B;
+  Motor MC = Motor.C;
   /* Disable the speed regulation and close down the associated threads.
    * This test does not require this type of motion control.
    */
-  Motor.A.regulateSpeed(false);
-  Motor.B.regulateSpeed(false);
-  Motor.C.regulateSpeed(false);
-  Motor.A.shutdown();
-  Motor.B.shutdown();
-  Motor.C.shutdown();
+
+  MA.regulateSpeed(false);
+  MB.regulateSpeed(false);
+  MC.regulateSpeed(false);
+  MA.shutdown();
+  MB.shutdown();
+  MC.shutdown();
   
-  Motor.B.forward();
-  Motor.C.forward();
+  MB.forward();
+  MC.forward();
   int iteration = 0;
   int startTime = (int)System.currentTimeMillis();
   int totalTime = 0;
@@ -29,30 +35,34 @@ public class SpeedTest {
   while(totalTime < TOTALTIME) {
    lightVal = ls.readValue();
    distVal = us.getDistance();
-   tacho = Motor.B.getTachoCount();
-   int RN = (int)(Math.random() * 100) + 1;
+   tacho = MB.getTachoCount();
+   int RN = rand.nextInt( 100) + 1;
+   int V3 = (lightVal + distVal + tacho)*100/RN;
 
    // Uncomment the following to produce display output as per the original test.
-   //LCD.drawInt(tacho,0,0);
-   //LCD.drawInt((lightVal + distVal + tacho)*100/RN, 0, 1);
-   //LCD.drawInt(A, 0, 2);
-   //LCD.drawInt(iteration, 0, 4);
-   //LCD.refresh();
+   LCD.drawInt(tacho,0,0);
+   LCD.drawInt(V3, 0, 1);
+   LCD.drawInt(A, 0, 2);
+   LCD.drawInt(iteration, 0, 4);
 
    // Set motor speed for B and C to RN (Using Coast)
 
-   Motor.B.setPower(RN);
-   Motor.C.setPower(RN);
+   MB.setPower(RN);
+   MC.setPower(RN);
    if(RN > 50) ++A;
    if(RN < 50) --A;
    
-   if(A<0) Motor.A.backward(); else Motor.A.forward();
+   if(A<0) MA.backward(); else MA.forward();
 
    totalTime = (int)System.currentTimeMillis() - startTime;
    iteration++;
   }
+
+  MA.stop();
+  MB.stop();
+  MC.stop();
+
   LCD.drawInt(iteration, 0, 4);
-  LCD.refresh();
 
   Thread.sleep(10000);
  }