ch.aplu.ev3

Class LegoRobot

java.lang.Object

ch.aplu.ev3.LegoRobot

Direct Known Subclasses:

NxtTurtleRobot, TurtleRobot

public class LegoRobot
extends java.lang.Object

Class that represents a EV3 robot brick. Parts (e.g. motors, sensors) may be assembled into the robot to make it doing the desired job.

Constructor Summary

Constructors

Constructor and Description
LegoRobot() Creates an instance of LegoRobot and starts execution normally.
LegoRobot(boolean waitStart) Creates an instance of LegoRobot and and delays execution until the user presses the ENTER button.
LegoRobot(boolean waitStart, boolean isMelodyEnabled) Creates an instance of LegoRobot and and delays execution until the user presses the ENTER button.

Method Summary

Methods

Modifier and Type	Method and Description
void	addButtonListener(ButtonListener listener) Registers a button listener to report events when one of the brick buttons is hit.
void	addPart(Part part) Assembles the given part into the robot.
void	clearDisplay() Clears the display.
void	drawString(java.lang.String text, int x, int y) Draws the given text line starting at given position.
void	drawStringAt(java.lang.String text, int count) Draws the given text line starting at given screen cell count.
void	exit() Calls cleanup() of all sensors, stops any running motor and terminates the running program.
int	getBatteryLevel() Returns the battery level.
int	getHitButtonID() Returns the button ID of the button previously hit.
java.lang.String	getRobotProperties()
static java.lang.String	getVersion() Returns library version information.
boolean	isButtonHit() Returns true, if any of the buttons was hit.
boolean	isDownHit() Returns true, if the DOWN button was the last button hit since the last call of this method.
boolean	isEnterHit() Returns true, if the ENTER button was the last button hit since the last call of this method.
boolean	isEscapeHit() Returns true, if the ESCAPE button was the last button hit since the last call of this method.
boolean	isLeftHit() Returns true, if the LEFT button was the last button hit since the last call of this method.
boolean	isRightHit() Returns true, if the RIGHT button was the last button hit since the last call of this method.
boolean	isUpHit() Returns true, if the UP button was the last button hit since the last call of this method.
void	playTone(int frequency, int duration) Plays a tone of given frequency (in Hz) for the given duration (in ms).
void	setLED(int pattern) Turn on/off the brick's left/right LEDs (only affected in pair).
void	setVolume(int volume) Sets the sound volume.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

LegoRobot

public LegoRobot(boolean waitStart,
         boolean isMelodyEnabled)

Creates an instance of LegoRobot and and delays execution until the user presses the ENTER button. A ButtonListener thread is started to get button hit events.

Parameters:

waitStart - if true, the execution is stopped until the ENTER button is hit.

isMelodyEnabled - if true, a connect and disconnect melody is played

LegoRobot

public LegoRobot(boolean waitStart)

Creates an instance of LegoRobot and and delays execution until the user presses the ENTER button. A ButtonListener thread is started to get button hit events. A connect and disconnect melody is played.

Parameters:

waitStart - if true, the execution is stopped until the ENTER button is hit.

LegoRobot

public LegoRobot()

Creates an instance of LegoRobot and starts execution normally. A connect and disconnect melody is played. A ButtonListener thread is started to get button hit events.

Method Detail

addPart

public void addPart(Part part)

Assembles the given part into the robot. Initializes the part.

Parameters:

part - the part to assemble

getBatteryLevel

public int getBatteryLevel()

Returns the battery level.

Returns:

voltage (in Millivolt)

getVersion

public static java.lang.String getVersion()

Returns library version information.

Returns:

library version

exit

public void exit()

Calls cleanup() of all sensors, stops any running motor and terminates the running program.

playTone

public void playTone(int frequency,
            int duration)

Plays a tone of given frequency (in Hz) for the given duration (in ms). The method returns immediately. In order to play a melody, the program should be delayed (using Tools.delay()) for an appropriate duration.

Parameters:

frequency - the frequency in Hertz (must be int)

duration - the duration in milliseconds (must be int)

setVolume

public void setVolume(int volume)

Sets the sound volume. Master volume, used also for connect/disconnect melody.

Parameters:

volume - the sound volume (0..100)

setLED

public void setLED(int pattern)

Turn on/off the brick's left/right LEDs (only affected in pair). Pattern mask:
0: off
1: green
2: red
3: red bright
4: green blinking
5: red blinking
6: red blinking bright
7: green double blinking
8: red double blinking
9: red double blinking bright

Parameters:

pattern - the pattern 0..9

getRobotProperties

public java.lang.String getRobotProperties()

addButtonListener

public void addButtonListener(ButtonListener listener)

Registers a button listener to report events when one of the brick buttons is hit.

Parameters:

listener - the ButtonListener to register

isButtonHit

public boolean isButtonHit()

Returns true, if any of the buttons was hit. Calls Thread.sleep(10) to be used in tide loops. A button listener must be started before by calling startButtonListener.

Returns:

true, if a button was hit

getHitButtonID

public int getHitButtonID()

Returns the button ID of the button previously hit. The button hit buffer is cleared then.

Returns:

the ID of the button; if the hit buffer is empty or the button listener is is not running, return 0

isUpHit

public boolean isUpHit()

Returns true, if the UP button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in tide loops.

Returns:

true, if the up button was clicked

isDownHit

public boolean isDownHit()

Returns true, if the DOWN button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in tide loops.

Returns:

true, if the up button was clicked

isLeftHit

public boolean isLeftHit()

Returns true, if the LEFT button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in tide loops.

Returns:

true, if the up button was clicked

isRightHit

public boolean isRightHit()

Returns true, if the RIGHT button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in tide loops.

Returns:

true, if the up button was clicked

isEnterHit

public boolean isEnterHit()

Returns true, if the ENTER button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in tide loops.

Returns:

true, if the up button was clicked

isEscapeHit

public boolean isEscapeHit()

Returns true, if the ESCAPE button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in tide loops.

Returns:

true, if the up button was clicked

drawString

public void drawString(java.lang.String text,
              int x,
              int y)

Draws the given text line starting at given position. The display is 18 characters wide and 8 lines high. Characters outside the visual range are hidden.

Parameters:

text - the text to show

x - the column number (0..17)

y - the line number (0..7)

drawStringAt

public void drawStringAt(java.lang.String text,
                int count)

Draws the given text line starting at given screen cell count. The display is 18 characters wide and 8 lines high. Characters outside the visual range are hidden.

Parameters:

text - the text to show

count - the cell count (cells are counted from zero line-per-line

clearDisplay

public void clearDisplay()

Clears the display.