import lejos.nxt.*;
import lejos.nxt.addon.*;
import lejos.util.TextMenu;
public class View {
public static void main (String[] aArg)
throws Exception
{
String sys = "System info";
String batt = "Battery :";
String tot = "Tot mem :";
String free = "Free mem:";
String sensVal = "Sensor Value";
String mot = "Motors";
String mots = "Motors:";
String tach = "Tacho:";
String port = "Port:";
String type = "Type:";
String val = "Value:";
String pressed = "pressed ";
String released = "released";
String[] viewItems = {"System", "Sensors", "Motors", "Exit"};
TextMenu main = new TextMenu(viewItems, 1, "View Example");
String[] sensorItems = {"Touch","Light(Floodlit)","Light(Ambient)","Sound DB","Sound DBA","RCX Light","Ultrasonic"};
TextMenu pickSensor = new TextMenu(sensorItems, 1, "Pick Sensor");
String[] sensorPorts = {"S1","S2","S3","S4"};
TextMenu pickSensorPort = new TextMenu(sensorPorts, 1, "Pick Port");
String[] motors = {"A","B","C","A&B","A&C","B&C"};
TextMenu pickMotor = new TextMenu(motors,1,"Pick Motor");
String[] motorMethods = {"forward","backward","flt","stop"};
TextMenu operation = new TextMenu(motorMethods, 1, "Pick option");
int selection;
for(;;)
{
LCD.clear();
selection = main.select();
if (selection == -1 || selection == 3)
{
LCD.clear();
LCD.drawString("Finished",3,4);
LCD.refresh();
return;
}
if (selection == 0) // System Info
{
LCD.clear();
LCD.drawString(sys, 0, 0);
LCD.drawString(batt, 0, 2);
LCD.drawInt(Battery.getVoltageMilliVolt(), 4, 10, 2);
LCD.drawString(tot, 0, 3);
LCD.drawInt((int)(Runtime.getRuntime().totalMemory()), 5, 10, 3);
LCD.drawString(free, 0, 4);
LCD.drawInt((int)(Runtime.getRuntime().freeMemory()), 5, 10,4);
LCD.refresh();
Button.ESCAPE.waitForPressAndRelease();
}
if (selection == 1) // Sensors
{
LCD.clear();
int portId = pickSensorPort.select();
if (portId < 0)
{
Button.ESCAPE.waitForPressAndRelease();
continue;
}
LCD.clear();
int sensor = pickSensor.select();
if (sensor < 0)
{
Button.ESCAPE.waitForPressAndRelease();
continue;
}
LCD.clear();
LCD.drawString(sensVal, 0, 0);
LCD.drawString(port, 0, 2);
LCD.drawString(sensorPorts[portId],6,2);
LCD.drawString(type, 0, 3);
LCD.drawString(sensorItems[sensor],6,3);
LCD.drawString(val,0,4);
if (sensor == 0)
{
TouchSensor touch = new TouchSensor(SensorPort.PORTS[portId]);
while (!Button.ESCAPE.isPressed())
{
if (touch.isPressed()) LCD.drawString(pressed,7,4);
else LCD.drawString(released, 7, 4);
LCD.refresh();
Thread.sleep(100);
}
}
if (sensor == 1 || sensor == 2)
{
LightSensor light = new LightSensor(SensorPort.PORTS[portId], sensor == 1);
while (!Button.ESCAPE.isPressed())
{
LCD.drawInt(light.readValue(), 3, 7, 4);
LCD.refresh();
Thread.sleep(100);
}
}
if (sensor == 3 || sensor == 4)
{
SoundSensor sound = new SoundSensor(SensorPort.PORTS[portId], sensor == 4);
while (!Button.ESCAPE.isPressed())
{
LCD.drawInt(sound.readValue(), 3, 7, 4);
LCD.refresh();
Thread.sleep(100);
}
}
if (sensor == 5) // RCX Light Sensor
{
RCXLightSensor light = new RCXLightSensor(SensorPort.PORTS[portId]);
while (!Button.ESCAPE.isPressed())
{
LCD.drawInt(light.readValue(), 3, 7, 4);
LCD.refresh();
Thread.sleep(100);
}
}
if (sensor == 6) // Ultrasonic
{
UltrasonicSensor sonar = new UltrasonicSensor(SensorPort.PORTS[portId]);
while (!Button.ESCAPE.isPressed())
{
LCD.drawInt(sonar.getDistance(), 3, 7, 4);
LCD.refresh();
Thread.sleep(100);
}
}
Button.ESCAPE.waitForPressAndRelease();
}
if (selection == 2) // Motors
{
LCD.clear();
int motor = pickMotor.select();
if (motor < 0)
{
Button.ESCAPE.waitForPressAndRelease();
continue;
}
for(;;)
{
LCD.clear();
int op = operation.select();
if (op < 0)
{
Button.ESCAPE.waitForPressAndRelease();
break;
}
if (op == 0) // forwards
{
if (motor == 0 || motor == 3 || motor == 4) Motor.A.forward();
if (motor == 1 || motor == 3 || motor == 5) Motor.B.forward();
if (motor == 2 || motor == 4 || motor == 5) Motor.C.forward();
}
if (op == 1) // backwards
{
if (motor == 0 || motor == 3 || motor == 4) Motor.A.backward();
if (motor == 1 || motor == 3 || motor == 5) Motor.B.backward();
if (motor == 2 || motor == 4 || motor == 5) Motor.C.backward();
}
if (op == 2) // float
{
if (motor == 0 || motor == 3 || motor == 4) Motor.A.flt();
if (motor == 1 || motor == 3 || motor == 5) Motor.B.flt();
if (motor == 2 || motor == 4 || motor == 5) Motor.C.flt();
}
if (op == 3) // stop
{
if (motor == 0 || motor == 3 || motor == 4) Motor.A.stop();
if (motor == 1 || motor == 3 || motor == 5) Motor.B.stop();
if (motor == 2 || motor == 4 || motor == 5) Motor.C.stop();
}
// Display tach reading until Escape is pressed
while(!Button.ESCAPE.isPressed())
{
LCD.clear();
LCD.drawString(mot,0,0);
LCD.drawString(mots, 0, 2);
LCD.drawString(motors[motor], 8,2);
LCD.drawString(tach, 0, 3);
if (motor == 0 || motor == 3 || motor == 4)
LCD.drawInt(Motor.A.getTachoCount(), 8, 7, 3);
if (motor == 1 || motor == 3 || motor == 5)
LCD.drawInt(Motor.B.getTachoCount(), 8, 7, 3);
if (motor == 2 || motor == 4 || motor == 5)
LCD.drawInt(Motor.C.getTachoCount(), 8, 7, 3);
LCD.refresh();
Thread.sleep(100);
}
Button.ESCAPE.waitForPressAndRelease();
}
}
}
}
}