iPod touch控制乐高NXT机器人程序示例

import java.io.DataInputStream; import java.io.DataOutputStream; import lejos.nxt.*; import lejos.nxt.comm.NXTConnection; import lejos.nxt.comm.Bluetooth; public class helloworld { public static void main(String[] args) throws Exception { LCD.drawString("waiting for bluetooth", 0, 0); NXTConnection connection = null; connection = Bluetooth.waitForConnection(); LCD.drawString("connected", 0, 0); DataInputStream dis = connection.openDataInputStream(); LCD.clear(); LCD.drawString("stream opened", 0, 0); Motor.C.setSpeed(900); Motor.C.rotateTo(0, true); // reset rotation counter int left_speed; int right_speed; int shovel_level; int last_shovel_level = 0; while (true) { while (dis.available() <= 0) ; left_speed = (dis.read() - 10) * 90; right_speed = (dis.read() - 10) * 90; shovel_level = (int) (dis.read() / 100.0 * 360); dis.close(); if ((shovel_level - last_shovel_level > 20) || (shovel_level - last_shovel_level < -20)) { Motor.C.rotateTo(-shovel_level); last_shovel_level = shovel_level; } if ((left_speed >= 0) && (right_speed >= 0)) { if (right_speed <= 90) Motor.A.stop(); else { Motor.A.forward(); Motor.A.setSpeed(right_speed); } if (left_speed <= 90) Motor.B.stop(); else { Motor.B.forward(); Motor.B.setSpeed(left_speed); } } else { if (right_speed >= -90) Motor.A.stop(); else { Motor.A.backward(); Motor.A.setSpeed(-right_speed); } if (left_speed >= -90) Motor.B.stop(); else { Motor.B.backward(); Motor.B.setSpeed(-left_speed); } } /* * dos.writeChars("abcd"); dos.flush(); dos.close(); */ // LCD.drawString("closed",0,0); } } }