PLAYLEGO | Category Archives: プログラム

モーターテスト

モーターをテストするプログラムです。

[On-Off]ボタンで電源の入切
[Run]ボタンで実行、動作を切り替えます：前進 > スイッチ > 後退 > スイッチ >
A,B,Cどのポートに接続しても動作は同じです
[Prgm]ボタンでスイッチ動作を切り替えます：　ストップ > 滑走 > 逆転 >
[View]ボタンでパワーを設定します(0-7)：　0 > 1 > … > 7 >
1分後に時間切れ終了になります。

MotorTest.java

/*モーターテスト
[Run]button -- start, do action: Forward(f) > Switch(s) > Backward(b) > Switch(s) >
[Prgm]button -- set Switch: Stop(s) > Float(f) > Reverse(r) >
[View]button -- set Power: 0-7
All motors(A,B,C) do same action
Stop after TimeOut:60 seconds
*/
import java.lang.*;
import josx.platform.rcx.*;

class MotorTest
implements SensorConstants, Segment
{
  public final static int TimeOut = 60; //seconds
  public final static int TimeCycle = 500; //millisecond
  public final static int TimeOutCycle = 1000*TimeOut/TimeCycle;

  public final static char[] cAction = {'f','s','b','s'}; //Forward,Switch,Backward,Switch
  public final static char[] cSwitch = {'s','f','r'}; //Stop,Float,Reverse

  static int action = 0; //0:Forward
  static int aswitch = 0; //0:Stop
  static int power = 3; //0-7

  static void doAction()
  {
    char a = cAction[action];
    if (a=='f') {
      Motor.A.forward();
      Motor.B.forward();
      Motor.C.forward();
    }
    else if (a=='b') {
      Motor.A.backward();
      Motor.B.backward();
      Motor.C.backward();
    }
    else if (a=='s') {
      char s = cSwitch[aswitch];
      if (s=='s') {
        Motor.A.stop();
        Motor.B.stop();
        Motor.C.stop();
      }
      else if (s=='f') {
        Motor.A.flt();
        Motor.B.flt();
        Motor.C.flt();
      }
      else if (s=='r') {
        Motor.A.reverseDirection();
        Motor.B.reverseDirection();
        Motor.C.reverseDirection();
      }
    }
  }

  static void setPower()
  {
    Motor.A.setPower(power);
    Motor.B.setPower(power);
    Motor.C.setPower(power);
  }

  static char charNum(int num)
  {
    return (char)('0'+num%10);
  }

  public static void main (String[] aArg)
  throws Exception
  {
    setPower();
    doAction();
    LCD.clear();
    TextLCD.printChar(cAction[action],0); //f,s,b,s
    TextLCD.printChar(cSwitch[aswitch],1); //s,f,r
    TextLCD.printChar(charNum(power),4);
    LCD.refresh();
    Sound.playTone(1000,2);

    Button.RUN.addButtonListener(new ButtonListener() {
        public void buttonPressed(Button button) {
          action = (action+1)%4;
          doAction();
          TextLCD.printChar(cAction[action],0); //f,s,b,s
          LCD.refresh();
          Sound.playTone(1000,2);
        }
        public void buttonReleased(Button button) {
        }
      }
    );

    Button.PRGM.addButtonListener(new ButtonListener() {
        public void buttonPressed(Button button) {
          aswitch = (aswitch+1)%3;
          TextLCD.printChar(cSwitch[aswitch],1); //s,f,r
          LCD.refresh();
          Sound.playTone(700,2);
        }
        public void buttonReleased(Button button) {
        }
      }
    );

    Button.VIEW.addButtonListener(new ButtonListener() {
        public void buttonPressed(Button button) {
          power = (power+1)%8;
          setPower();
          TextLCD.printChar(charNum(power),4);
          LCD.refresh();
          Sound.playTone(500,2);
        }
        public void buttonReleased(Button button) {
        }
      }
    );

    for(int i=0; i<TimeOutCycle; i++) {
      LCD.setSegment(STANDING+i%2); //or WALKING
      LCD.refresh();
      try {
        Thread.sleep(TimeCycle);
      } catch(InterruptedException e) {
      }
    }
    LCD.clear();
    LCD.refresh();
    Sound.beepSequence();
    try {
      Thread.sleep(1000);
    } catch(InterruptedException e) {
    }
  }
}

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/*モーターテスト

[Run]button -- start, do action: Forward(f) > Switch(s) > Backward(b) > Switch(s) >

[Prgm]button -- set Switch: Stop(s) > Float(f) > Reverse(r) >

[View]button -- set Power: 0-7

All motors(A,B,C) do same action

Stop after TimeOut:60 seconds

import java.lang.*;

import josx.platform.rcx.*;

class MotorTest

implements SensorConstants, Segment

{

public final static int TimeOut = 60; //seconds

public final static int TimeCycle = 500; //millisecond

public final static int TimeOutCycle = 1000*TimeOut/TimeCycle;

public final static char[] cAction = {'f','s','b','s'}; //Forward,Switch,Backward,Switch

public final static char[] cSwitch = {'s','f','r'}; //Stop,Float,Reverse

static int action = 0; //0:Forward

static int aswitch = 0; //0:Stop

static int power = 3; //0-7

static void doAction()

{

char a = cAction[action];

if (a=='f') {

Motor.A.forward();

Motor.B.forward();

Motor.C.forward();

}

else if (a=='b') {

Motor.A.backward();

Motor.B.backward();

Motor.C.backward();

}

else if (a=='s') {

char s = cSwitch[aswitch];

if (s=='s') {

Motor.A.stop();

Motor.B.stop();

Motor.C.stop();

}

else if (s=='f') {

Motor.A.flt();

Motor.B.flt();

Motor.C.flt();

}

else if (s=='r') {

Motor.A.reverseDirection();

Motor.B.reverseDirection();

Motor.C.reverseDirection();

}

static void setPower()

{

Motor.A.setPower(power);

Motor.B.setPower(power);

Motor.C.setPower(power);

}

static char charNum(int num)

{

return (char)('0'+num%10);

}

public static void main (String[] aArg)

throws Exception

{

setPower();

doAction();

LCD.clear();

TextLCD.printChar(cAction[action],0); //f,s,b,s

TextLCD.printChar(cSwitch[aswitch],1); //s,f,r

TextLCD.printChar(charNum(power),4);

LCD.refresh();

Sound.playTone(1000,2);

Button.RUN.addButtonListener(new ButtonListener() {

public void buttonPressed(Button button) {

action = (action+1)%4;

doAction();

TextLCD.printChar(cAction[action],0); //f,s,b,s

LCD.refresh();

Sound.playTone(1000,2);

}

public void buttonReleased(Button button) {

}

);

Button.PRGM.addButtonListener(new ButtonListener() {

public void buttonPressed(Button button) {

aswitch = (aswitch+1)%3;

TextLCD.printChar(cSwitch[aswitch],1); //s,f,r

LCD.refresh();

Sound.playTone(700,2);

}

public void buttonReleased(Button button) {

}

);

Button.VIEW.addButtonListener(new ButtonListener() {

public void buttonPressed(Button button) {

power = (power+1)%8;

setPower();

TextLCD.printChar(charNum(power),4);

LCD.refresh();

Sound.playTone(500,2);

}

public void buttonReleased(Button button) {

}

);

for(int i=0; i<TimeOutCycle; i++) {

LCD.setSegment(STANDING+i%2); //or WALKING

LCD.refresh();

try {

Thread.sleep(TimeCycle);

} catch(InterruptedException e) {

}

LCD.clear();

LCD.refresh();

Sound.beepSequence();

try {

Thread.sleep(1000);

} catch(InterruptedException e) {

}

RCX

RCXを動かすプログラムは、Javaを使う「leJOS」というプロジェクトがあるのでそれを利用します。
LeJOS, Java for Lego Mindstorms / RCX
http://lejos.sourceforge.net/rcx.php
RCXの専用ソフトウェアよりも、Java「仮想マシン」のほうがお洒落度アップ?(^^)

最初の設定手順：
1)パソコンでJavaを使えるようにする
2)パソコンでleJOSを使えるように
3)パソコンとRCXが通信する「IRタワー」ドライバーを設定
4)leJOS用のファームウェアをRCXにダウンロード

プログラムの開発手順：
1)パソコンでJavaソースコードを編集する
2)ソースコードをコンパイル
3)実行ファイルをIRタワー経由でRCXにダウンロード
4)RCXで動作確認

[On-Off]ボタンで電源の入切
[Run]ボタン：実行、読出センサーポートの切り替え： 1 > 2 > 3 >
初期設定で各ポートは次のように設定しています：
1：タッチセンサー(読出値：真偽0,1)
2：光センサー(読出値：0～100)
3：汎用(読出値：0～1023)
データの読出しは0.5秒おきに行い、1分後に時間切れ終了になります。
[View]ボタン：タッチセンサーの読出モード切り替え：真偽値 > パルスカウント(押して放すとカウント) > エッジカウント(押す・放すどちらもカウント)
[Prgm]ボタン：各ポートのセンサータイプ切り替え：タッチ > 光 > 汎用 > 空白(汎用・不活性) >

SensorTest.java

/*センサーテスト
[Run]button -- start, change port: 1 > 2 > 3 >
Default sensor: Port 1:Touch(t)0,1/count, 2:Light(l)0-100, 3:Raw(r)0-1023
Read number every TimeCycle:500 milliseconds
Stop after TimeOut:60 seconds
[View]button -- change touch sensor mode: Bool(b)0,1 > Pulse(p)count > Edge(e)count >
[Prgm]button -- change sensor type on port: Touch > Light > Raw > Blanc(Passive Raw) >
*/
import java.lang.*;
import josx.platform.rcx.*;

class SensorTest
implements SensorConstants, Segment
{
  public final static int TimeCycle = 500; //millisecond
  public final static int TimeOut = 60; //seconds

  public final static int TimeOutCycle = 1000*TimeOut/TimeCycle;

  public final static int Touch = 0; //type
  public final static int Light = 1;
  public final static int Raw = 2;
  public final static int Blanc = 3; //Passive Raw
  public final static int Bool = 0; //mode

  public final static int[] aTYPE = {SENSOR_TYPE_TOUCH,SENSOR_TYPE_LIGHT,
                                     SENSOR_TYPE_RAW,SENSOR_TYPE_RAW};
  public final static int[] aTypeMODE = {SENSOR_MODE_BOOL,SENSOR_MODE_PCT,
                                         SENSOR_MODE_RAW,SENSOR_MODE_RAW};
  public final static int[] aTouchMODE = {SENSOR_MODE_BOOL,
                                          SENSOR_MODE_PULSE,SENSOR_MODE_EDGE};

  public final static char[] charType = {'t','l','r',' '}; //Touch,Light,Raw,Blanc
  public final static char[] charMode = {'b','p','e'}; //Bool,Pulse,Edge

  static int[] portType = {Touch,Light,Raw};
  static int[] portTouchMode = {Bool,Bool,Bool};

  static int port = 0; //Port Label 1
  static int type = 0; //Touch
  static int mode = 0; //Bool

  static char charNum(int num)
  {
    return (char)('0'+num%10); //'0'-'9'
  }

  public static void main (String[] aArg)
  throws Exception
  {
    for(int p=0; p<3; p++)
      Sensor.SENSORS[p].setTypeAndMode(aTYPE[portType[p]],aTypeMODE[portType[p]]);
    Sensor.SENSORS[port].activate();
    Sound.playTone(1000,2);

    Button.RUN.addButtonListener(new ButtonListener() {
        public void buttonPressed(Button button) {
          Sensor.SENSORS[port].passivate();
          port = (port+1)%3;
          type = portType[port];
          if (type==Touch) mode = portTouchMode[port];
          if (type!=Blanc) Sensor.SENSORS[port].activate();
          Sound.playTone(1000,2);
        }
        public void buttonReleased(Button button) {
        }
      }
    );

    Button.PRGM.addButtonListener(new ButtonListener() {
        public void buttonPressed(Button button) {
          type = (type+1)%4;
          portType[port] = type;
          Sensor.SENSORS[port].setTypeAndMode(aTYPE[type],aTypeMODE[type]);
          if (type==Touch) {
            mode = Bool;
            portTouchMode[port] = mode;
          }
          if (type==Blanc) Sensor.SENSORS[port].passivate();
          else Sensor.SENSORS[port].activate();
          Sound.playTone(700,2);
        }
        public void buttonReleased(Button button) {
        }
      }
    );

    Button.VIEW.addButtonListener(new ButtonListener() {
        public void buttonPressed(Button button) {
          if (type==Touch) {
            mode = (mode+1)%3;
            portTouchMode[port] = mode;
            Sensor.SENSORS[port].setTypeAndMode(aTYPE[type],aTouchMODE[mode]);
            Sound.playTone(500,2);
          }
        }
        public void buttonReleased(Button button) {
        }
      }
    );

    for(int i=0; i<TimeOutCycle; i++) {
      LCD.clear();
      LCD.setSegment(SENSOR_1_VIEW+port*2);
      LCD.setSegment(SENSOR_1_ACTIVE+port*2);
      TextLCD.printChar(charType[type],0); //t,l,r,' '
      int val = Sensor.SENSORS[port].readValue();
      if (type==Touch) { //0-99
        TextLCD.printChar(charMode[mode],1); //b,p,e
        TextLCD.printChar(charNum(val),3);
        if (10<=val) TextLCD.printChar(charNum(val/10),4);
      }
      else if (type==Light) { //00-100
        TextLCD.printChar(charNum(val),2);
        TextLCD.printChar(charNum(val/10),3);
        if (100<=val) TextLCD.printChar(charNum(val/100),4);
      }
      else { //Raw,Blanc:0000-1023
        LCD.showNumber(val);
      }
      LCD.setSegment(STANDING+i%2); //or WALKING
      LCD.refresh();
      try {
        Thread.sleep(TimeCycle);
      } catch(InterruptedException e) {
      }
    }
    Sensor.SENSORS[port].passivate();
    LCD.clear();
    LCD.refresh();
    Sound.beepSequence();
    try {
      Thread.sleep(1000);
    } catch(InterruptedException e) {
    }
  }
}

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/*センサーテスト

[Run]button -- start, change port: 1 > 2 > 3 >

Default sensor: Port 1:Touch(t)0,1/count, 2:Light(l)0-100, 3:Raw(r)0-1023

Read number every TimeCycle:500 milliseconds

Stop after TimeOut:60 seconds

[View]button -- change touch sensor mode: Bool(b)0,1 > Pulse(p)count > Edge(e)count >

[Prgm]button -- change sensor type on port: Touch > Light > Raw > Blanc(Passive Raw) >

import java.lang.*;

import josx.platform.rcx.*;

class SensorTest

implements SensorConstants, Segment

{

public final static int TimeCycle = 500; //millisecond

public final static int TimeOut = 60; //seconds

public final static int TimeOutCycle = 1000*TimeOut/TimeCycle;

public final static int Touch = 0; //type

public final static int Light = 1;

public final static int Raw = 2;

public final static int Blanc = 3; //Passive Raw

public final static int Bool = 0; //mode

public final static int[] aTYPE = {SENSOR_TYPE_TOUCH,SENSOR_TYPE_LIGHT,

SENSOR_TYPE_RAW,SENSOR_TYPE_RAW};

public final static int[] aTypeMODE = {SENSOR_MODE_BOOL,SENSOR_MODE_PCT,

SENSOR_MODE_RAW,SENSOR_MODE_RAW};

public final static int[] aTouchMODE = {SENSOR_MODE_BOOL,

SENSOR_MODE_PULSE,SENSOR_MODE_EDGE};

public final static char[] charType = {'t','l','r',' '}; //Touch,Light,Raw,Blanc

public final static char[] charMode = {'b','p','e'}; //Bool,Pulse,Edge

static int[] portType = {Touch,Light,Raw};

static int[] portTouchMode = {Bool,Bool,Bool};

static int port = 0; //Port Label 1

static int type = 0; //Touch

static int mode = 0; //Bool

static char charNum(int num)

{

return (char)('0'+num%10); //'0'-'9'

}

public static void main (String[] aArg)

throws Exception

{

for(int p=0; p<3; p++)

Sensor.SENSORS[p].setTypeAndMode(aTYPE[portType[p]],aTypeMODE[portType[p]]);

Sensor.SENSORS[port].activate();

Sound.playTone(1000,2);

Button.RUN.addButtonListener(new ButtonListener() {

public void buttonPressed(Button button) {

Sensor.SENSORS[port].passivate();

port = (port+1)%3;

type = portType[port];

if (type==Touch) mode = portTouchMode[port];

if (type!=Blanc) Sensor.SENSORS[port].activate();

Sound.playTone(1000,2);

}

public void buttonReleased(Button button) {

}

);

Button.PRGM.addButtonListener(new ButtonListener() {

public void buttonPressed(Button button) {

type = (type+1)%4;

portType[port] = type;

Sensor.SENSORS[port].setTypeAndMode(aTYPE[type],aTypeMODE[type]);

if (type==Touch) {

mode = Bool;

portTouchMode[port] = mode;

}

if (type==Blanc) Sensor.SENSORS[port].passivate();

else Sensor.SENSORS[port].activate();

Sound.playTone(700,2);

}

public void buttonReleased(Button button) {

}

);

Button.VIEW.addButtonListener(new ButtonListener() {

public void buttonPressed(Button button) {

if (type==Touch) {

mode = (mode+1)%3;

portTouchMode[port] = mode;

Sensor.SENSORS[port].setTypeAndMode(aTYPE[type],aTouchMODE[mode]);

Sound.playTone(500,2);

}

public void buttonReleased(Button button) {

}

);

for(int i=0; i<TimeOutCycle; i++) {

LCD.clear();

LCD.setSegment(SENSOR_1_VIEW+port*2);

LCD.setSegment(SENSOR_1_ACTIVE+port*2);

TextLCD.printChar(charType[type],0); //t,l,r,' '

int val = Sensor.SENSORS[port].readValue();

if (type==Touch) { //0-99

TextLCD.printChar(charMode[mode],1); //b,p,e

TextLCD.printChar(charNum(val),3);

if (10<=val) TextLCD.printChar(charNum(val/10),4);

}

else if (type==Light) { //00-100

TextLCD.printChar(charNum(val),2);

TextLCD.printChar(charNum(val/10),3);

if (100<=val) TextLCD.printChar(charNum(val/100),4);

}

else { //Raw,Blanc:0000-1023

LCD.showNumber(val);

}

LCD.setSegment(STANDING+i%2); //or WALKING

LCD.refresh();

try {

Thread.sleep(TimeCycle);

} catch(InterruptedException e) {

}

Sensor.SENSORS[port].passivate();

LCD.clear();

LCD.refresh();

Sound.beepSequence();

try {

Thread.sleep(1000);

} catch(InterruptedException e) {

}