robo2.java

import lejos.nxt.*;
import lejos.util.*;
import lejos.robotics.navigation.DifferentialPilot;
import lejos.robotics.objectdetection.*;
import lejos.robotics.*;


public class robo implements FeatureListener {

	DifferentialPilot nerdling;	
	int DISTAMCE = 50;
	int SCAN = 500; // in milliseconds ...
	
	UltrasonicSensor us = new UltrasonicSensor(SensorPort.S4);
	FeatureDetector fd = new RangeFeatureDetector(us, DISTAMCE, SCAN);
	//
	TouchSensor bump = new TouchSensor(SensorPort.S1);
	FeatureDetector bf = new TouchFeatureDetector(bump, 10, 5);

	FusorDetector fusion = new FusorDetector();
	fusion.addDetector(fd);
	fusion.addDetector(bf);
	ObjectDetect listener = new ObjectDetect();
	fusion.addListener(listener);


	public void go() {
		nerdling.travel(20, true); // void travel(double distance, boolean immediateReturn) 

		while(nerdling.isMoving()) {
			if(bump.isPressed()) {
				nerdling.stop();
				nerdling.steer(20, 180); // turnRate, angle
				nerdling.travel(20, true);
			}
		}
		System.out.println("> " + nerdling.getMovement().getDistanceTraveled());
		Button.waitForAnyPress();
	}


	public void featureDetected(Feature feature, FeatureDetector detector) {
		int range = (int)feature.getRangeReading().getRange();
		//Sound.playTone(1200 - (range * 10), 100);
		//nerdling.stop();
		nerdling.steer(20, 90);
		//nerdling.travel(20, true);
		System.out.println("Range:" + range);
	}


	public static void main(String[] args) {
		LCD.drawString("Testing ...");
		robo traveler = new robo();
		traveler.pilot = new DifferentialPilot(2.25f, 5.5f, Motor.A, Motor.B);
		traveler.go();
	}

}