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Beginning Robotics Programming in Java with LEGO Mindstorms
Wei Lu
Keene, New Hampshire, USA
ISBN-13 (pbk): 978-1-4842-2004-7 ISBN-13 (electronic): 978-1-4842-2005-4
DOI 10.1007/978-1-4842-2005-4
Library of Congress Control Number: 2016959245
Copyright © 2016 by Wei Lu
This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is
concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction
on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic
adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed.
Trademarked names, logos, and images may appear in this book. Rather than use a trademark symbol with every
occurrence of a trademarked name, logo, or image we use the names, logos, and images only in an editorial fashion
and to the benefit of the trademark owner, with no intention of infringement of the trademark.
The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified
as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights.
While the advice and information in this book are believed to be true and accurate at the date of publication, neither
the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may
be made. The publisher makes no warranty, express or implied, with respect to the material contained herein.
Managing Director: Welmoed Spahr
Lead Editor: Aaron Black
Developmental Editor: Gary Schwartz
Technical Reviewer: Nanyan Wang
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Susan McDermott, Matthew Moodie, Natalie Pao, Gwenan Spearing
Coordinating Editor: Jessica Vakili
Copy Editor: Karen Jameson
Compositor: SPi Global
Indexer: SPi Global
Artist: SPi Global
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Printed on acid-free paper
www.allitebooks.com
v
Contents at a Glance
About the Author ..................................................................................................... xi
Acknowledgments ................................................................................................. xiii
Introduction .............................................................................................................xv
■Chapter 1: Introduction to Lego Mindstorms and leJOS ........................................ 1
■Chapter 2: Introduction to Motor Sensors ........................................................... 27
■Chapter 3: Controlling Wheeled Vehicles ............................................................. 43
■Chapter 4: Coordinators and Navigator API ......................................................... 65
■ Chapter 5: Depth-First Search Algorithm and
Its Implementation with Lego EV3 ....................................................................... 83
■ Chapter 6: Breadth-First Search and Its Implementation
with Lego Mindstorms ....................................................................................... 101
■ Chapter 7: Hill-Climbing Search and Its Implementation
with Lego Mindstorms ....................................................................................... 119
■ Chapter 8: Dijkstra’s Algorithm and Its Implementation
with Lego Mindstorms ....................................................................................... 139
■ Chapter 9: The A* Search Algorithm and Its Implementation
with Lego Mindstorms ....................................................................................... 167
■Chapter 10: Introducing the Touch Sensor and Ultrasonic Sensor .................... 183
■Chapter 11: Introducing the Light Sensor and Color Sensor ............................. 193
■Chapter 12: Introduction to Behavior Programming ......................................... 203
■Chapter 13: Multithreading Programming with Java leJOS .............................. 219
Index ..................................................................................................................... 231
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