SensorTest.java

import java.net.MalformedURLException;
import java.rmi.NotBoundException;
import java.rmi.RemoteException;

import lejos.hardware.Brick;
import lejos.hardware.BrickFinder;
import lejos.hardware.Button;
import lejos.hardware.lcd.GraphicsLCD;
import lejos.hardware.motor.BaseRegulatedMotor;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.hardware.motor.EV3MediumRegulatedMotor;
import lejos.hardware.port.MotorPort;
import lejos.hardware.port.Port;
import lejos.hardware.sensor.EV3ColorSensor;
import lejos.hardware.sensor.EV3UltrasonicSensor;
import lejos.hardware.sensor.SensorModes;
import lejos.remote.ev3.RMIRegulatedMotor;
import lejos.remote.ev3.RemoteEV3;
import lejos.robotics.SampleProvider;
import lejos.utility.Delay;

public class SensorTest {
	private EV3LargeRegulatedMotor motorB;
	private EV3LargeRegulatedMotor motorC;
	private EV3ColorSensor colorSensor;
	//private EV3ColorSensor lineSensor;
	private EV3UltrasonicSensor ultraSonic;
	private GraphicsLCD display;
	private EV3MediumRegulatedMotor motorClaw;
	
	public SensorTest() {
		Brick ev3 = BrickFinder.getDefault();
		//open ports. Open ports need to be closed before program ends
		motorB = new EV3LargeRegulatedMotor(ev3.getPort("B"));
		motorC = new EV3LargeRegulatedMotor(ev3.getPort("C"));
		motorClaw = new EV3MediumRegulatedMotor(ev3.getPort("A"));
		ultraSonic = new EV3UltrasonicSensor(ev3.getPort("S2"));
		colorSensor = new EV3ColorSensor(ev3.getPort("S3"));
		//lineSensor = new EV3ColorSensor(ev3.getPort("S4"));
		
		//initiate the display
		display = ev3.getGraphicsLCD();
	}
	
	//measuring the distance with ultra sonic sensor
	public void DistanceMeasurement() {
		SampleProvider distance = ultraSonic.getDistanceMode();
		float[] sample = new float[distance.sampleSize()];
		
		//SampleProvider average = new MeanFilter(distance, 5);
		while (!Button.ESCAPE.isDown()) {
			distance.fetchSample(sample, 0);
			String sampleString = "value " + ": " + sample[0];
			display.drawString(sampleString, 0, 0, GraphicsLCD.VCENTER | GraphicsLCD.LEFT);
			display.drawString("Escape to exit!", 0, 40, GraphicsLCD.VCENTER | GraphicsLCD.LEFT);
			Delay.msDelay(1000);
			display.clear();
		}
	}
	
	// measuring the color of the objects. 
	// 8 different colors, represented by 0,1,...,7
	// in order: (NONE, BLACK, BLUE, GREEN, YELLOW, RED, WHITE, BROWN)
	public void ColorMeasurement() {
		SampleProvider ColorIDSensor = colorSensor.getColorIDMode();
		int sampleSize = ColorIDSensor.sampleSize();            
		float[] sample = new float[sampleSize];
		
		while (!Button.ESCAPE.isDown()) {
			ColorIDSensor.fetchSample(sample, 0);
			String sampleString = "value " + ": " + sample[0];
			display.drawString(sampleString, 0, 0, GraphicsLCD.VCENTER | GraphicsLCD.LEFT);
			display.drawString("Escape to exit!", 0, 40, GraphicsLCD.VCENTER | GraphicsLCD.LEFT);
			Delay.msDelay(1000);
			display.clear();
		}
	}
	
	public void ForwardMotors(int speed) {
		motorB.setSpeed(speed);
		motorC.setSpeed(speed);
		motorB.forward();
		motorC.forward();
	}
	
	public void StopMotors() {
		motorB.stop(true);
		motorC.stop(true);
	}

	
	public void TurnRight90() {
		motorB.rotate(380);
	}
	
	public void TurnLeft90() {
		motorC.rotate(380);
	}
	
	public void OpenClaw() {
		motorClaw.setSpeed(400);
		motorClaw.rotate(800);
	}
	
	public void CloseClaw() {
		motorClaw.setSpeed(400);
		motorClaw.rotate(-800);
	}
	
	// all opened ports need to be closed!
	public void ClosePorts() {
		motorB.close();
		motorC.close();
		motorClaw.close();
		ultraSonic.close();
		colorSensor.close();
		//lineSensor.close();
	}
	
	public static void main(String[] args) throws RemoteException, MalformedURLException, NotBoundException {
		
		SensorTest test = new SensorTest();
		//test.ForwardMotors(400);
		//Delay.msDelay(2000);
		//test.StopMotors();
		//test.TurnRight90();
		//test.TurnLeft90();
		//Delay.msDelay(2000);
		//test.StopMotors();
		//test.DistanceMeasurement();
		//test.OpenClaw();
		//test.CloseClaw();
		//test.ColorMeasurement();
		//test.LineMeasurement();
		//Delay.msDelay(4000);
		test.ClosePorts();
	}
}