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- import lejos.nxt.Motor;
- import java.io.*;
- import lejos.nxt.comm.*;
- import lejos.util.Delay;
- import lejos.nxt.LCD;
- public class ConsoleTest {
- public static DataOutputStream dataOut;
- public static DataInputStream dataIn;
- public static NXTConnection Link;
- public static int speed = 200, turnSpeed = 125, speedBuffer, speedControl;
- public static int commandValue,transmitReceived, lastCommand = 0;
- public static void main(String [] args) throws Exception {
- connect();
- while(true){
- if (dataIn.available() > 0){
- byte x = dataIn.readByte();
- if(checkCommand((int)x)) {
- disconnect();
- break;
- }
- }
- }
- }
-
- public static boolean checkCommand(int data) {
- System.out.println(data);
- switch (data) {
- case 0x64:
- return true;
- case 0x1: // forward
- Motor.A.setSpeed(speed);
- Motor.C.setSpeed(speed);
- Motor.A.forward();
- Motor.C.forward();
- break;
- case 0x2: // forward
- Motor.A.setSpeed(speed);
- Motor.C.setSpeed(speed);
- Motor.A.backward();
- Motor.C.backward();
- break;
- case 0x3: // forward
- Motor.A.setSpeed(speed);
- Motor.C.setSpeed(speed);
- Motor.A.forward();
- Motor.C.backward();
- break;
- case 0x4: // forward
- Motor.A.setSpeed(speed);
- Motor.C.setSpeed(speed);
- Motor.A.backward();
- Motor.C.forward();
- break;
- default:
- Motor.A.stop(true);
- Motor.C.stop();
- }
- return false;
- }
- public static void connect() {
- System.out.println("Listening..");
- Link = Bluetooth.waitForConnection(0, NXTConnection.RAW);
- dataOut = Link.openDataOutputStream();
- dataIn = Link.openDataInputStream();
- }
- public static void disconnect() throws java.io.IOException {
- System.out.println("Closing...");
- dataOut.close();
- dataIn.close();
- USB.usbReset();
- System.exit(0);
- }
- }
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