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Ario added victorious sound
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@jhlassen17
jhlassen17 committed Feb 21, 2012
1 parent 36d35e1 commit c53a511
Showing 1 changed file with 93 additions and 68 deletions.
161 changes: 93 additions & 68 deletions NXT-Mazebot/src/nxt/MazeSolver.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
import lejos.nxt.LightSensor;
import lejos.nxt.Motor;
import lejos.nxt.SensorPort;
import lejos.nxt.Sound;
import lejos.nxt.addon.CompassSensor;
import lejos.robotics.navigation.DifferentialPilot;

Expand All @@ -15,47 +16,47 @@
public class MazeSolver {

/**
* This is responsible for moving the robot
*/
* This is responsible for moving the robot
*/
private DifferentialPilot myPilot;
/**
* Our light sensors
*/
* Our light sensors
*/
private LightSensor myFrontSensor, myRightSensor;
/**
* Our compass sensor
*/
* Our compass sensor
*/
private CompassSensor myCompass;

/**
* 12 Inches, what we think is the length of one tile
*/
* 12 Inches, what we think is the length of one tile
*/
private static final double travelDist = 01.50f;
private static final double travelDist2 = 1.00f;
/**
* The wheel diameter
*/
* The wheel diameter
*/
private static final double wheelDiam = 2.5f;
/**
* The space between wheels
*/
* The space between wheels
*/
private static final double axleLength = 9.6f;
/**
* Light Threshold
*/
* Light Threshold
*/
private static final int lightThreshold = 40;
/**
* End of maze threshold
*/
* End of maze threshold
*/
private static final int endThreshold = 52;
/**
* Speed to rotate
*/
* Speed to rotate
*/
private static final double rotateSpeed = 30.0f;

/**
* Default constructor, initializes the motors and sensors
*/
* Default constructor, initializes the motors and sensors
*/
public MazeSolver() {
// Set up motors and sensors
myPilot = new DifferentialPilot(wheelDiam, axleLength, Motor.B,
Expand All @@ -73,11 +74,11 @@ public MazeSolver() {
}

/**
* Program Entry Point
*
* @param args
* Command line arguments
*/
* Program Entry Point
*
* @param args
* Command line arguments
*/
public static void main(String[] args) {
// Create and start the solver
MazeSolver mySolver = new MazeSolver();
Expand All @@ -86,8 +87,8 @@ public static void main(String[] args) {
}

/**
* Runs the maze solving algorithm
*/
* Runs the maze solving algorithm
*/
public void solve() {

// While we haven't solved the maze
Expand Down Expand Up @@ -126,8 +127,8 @@ public void solve() {
}

/**
* Calibration utility method, not sure if we need it
*/
* Calibration utility method, not sure if we need it
*/
private void doCalibration() {
// Prep sensor
System.out.println("Port 1: Front Sensor");
Expand All @@ -151,20 +152,20 @@ private void doCalibration() {
}

/**
* Right turn method Uses compass
*/
* Right turn method Uses compass
*/
private void turnRight() {
System.out.println("R");
/*
* // Stop momentarily myPilot.stop();
*
* // Get current bearing float x = myCompass.getDegrees(); float y = (x
* - 90f) % 360;
*
* // Get us within a threshold of the degree that we want while (x < y
* - 3) { myPilot.rotate(-5); x = myCompass.getDegrees();
* System.out.println("Bearing: " + x); }
*/
* // Stop momentarily myPilot.stop();
*
* // Get current bearing float x = myCompass.getDegrees(); float y = (x
* - 90f) % 360;
*
* // Get us within a threshold of the degree that we want while (x < y
* - 3) { myPilot.rotate(-5); x = myCompass.getDegrees();
* System.out.println("Bearing: " + x); }
*/

// Turn Right
// goForward(4);
Expand All @@ -174,20 +175,20 @@ private void turnRight() {
}

/**
* Turns the robot left using compass
*/
* Turns the robot left using compass
*/
private void turnLeft() {
System.out.println("L");
/*
* // Stop momentarily myPilot.stop();
*
* // Get current bearing float x = myCompass.getDegrees(); float y = (x
* + 90f) % 360;
*
* // Get us within a threshold of the degree that we want while (x < y
* - 3) { myPilot.rotate(-5); x = myCompass.getDegrees();
* System.out.println("Bearing: " + x); }
*/
* // Stop momentarily myPilot.stop();
*
* // Get current bearing float x = myCompass.getDegrees(); float y = (x
* + 90f) % 360;
*
* // Get us within a threshold of the degree that we want while (x < y
* - 3) { myPilot.rotate(-5); x = myCompass.getDegrees();
* System.out.println("Bearing: " + x); }
*/

// Turn Left
goBack();
Expand All @@ -197,8 +198,8 @@ private void turnLeft() {
}

/**
* Go forward method
*/
* Go forward method
*/
private void goForward(double numTimes, double dist) {
System.out.println("F");
// Move some more, and return right away
Expand All @@ -212,10 +213,10 @@ private void goBack() {
}

/**
* Right is clear method
*
* @return True if right is clear
*/
* Right is clear method
*
* @return True if right is clear
*/
private boolean rightIsClear() {
//
// System.out.print("Right Light Value: ");
Expand All @@ -225,10 +226,10 @@ private boolean rightIsClear() {
}

/**
* Front is clear method
*
* @return True if front is clear
*/
* Front is clear method
*
* @return True if front is clear
*/
private boolean frontIsClear() {
//
// System.out.print("Front Light Value: ");
Expand All @@ -238,20 +239,21 @@ private boolean frontIsClear() {
}

/**
* Checks for a bright object in front to indicate that we are at the target
*
* @return True if we are at target
*/
* Checks for a bright object in front to indicate that we are at the target
*
* @return True if we are at target
*/
private boolean atTarget() {
return myFrontSensor.getLightValue() > endThreshold;
}

/**
* Maze solved method
*/
* Maze solved method
*/
private void mazeSolved() {
// We should have completed by now
System.out.println("Done");
MyTune();
Button.waitForPress();
System.out.println("X");
// Play Victorious Sound!
Expand All @@ -266,4 +268,27 @@ public void testLights() {
}
}

}
public void MyTune() {

// NOTE: This tune was generated from a midi using Guy
// Truffelli's Brick Music Studio www.aga.it/~guy/lego
short[] note = { 2349, 115, 0, 5, 1760, 165, 0, 35, 1760, 28, 0, 13,
1976, 23, 0, 18, 1760, 18, 0, 23, 1568, 15, 0, 25, 1480, 103,
0, 18, 1175, 180, 0, 20, 1760, 18, 0, 23, 1976, 20, 0, 20,
1760, 15, 0, 25, 1568, 15, 0, 25, 2217, 98, 0, 23, 1760, 88, 0,
33, 1760, 75, 0, 5, 1760, 20, 0, 20, 1760, 20, 0, 20, 1976, 18,
0, 23, 1760, 18, 0, 23, 2217, 225, 0, 15, 2217, 218 };
for (int i = 0; i < note.length; i += 2) {
final short w = note[i + 1];
final int n = note[i];
if (n != 0)
Sound.playTone(n, w * 10);
try {
Thread.sleep(w * 2);
} catch (InterruptedException e) {
}
}

}
}

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