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Modelle: Turtle |
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Turtle.java |
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import josx.platform.rcx.*; import java.lang.Math; import java.lang.Thread; /** * A Turtle you can need like a LOGO-Turtle. * * Designer: Sven Windhorst, Tim Rinkens * Author: Tim Rinkens */ public class Turtle { public static final int NORTH = 0; public static final int EAST = 1; public static final int SOUTH = 2; public static final int WEST = 3; public static int cDir; public static Motor lMotor; public static Motor rMotor; public static Motor pencilMotor; public static Sensor pencilSensor; public static double turnfactor; public static double drivefactor; /** * * Robot with two independent drive wheels and one idler wheel at the end. * The pencil is mounted between the two wheels (zero turning radius). * The touchsensor is activated when the pencil is down (writing). * The turnfactor represents the time interval needed for turning 1 degree. * * * @param lMotor left Motor * @param rMotor right Motor * @param pencilSensor Touchsensor for pencil down * @param turnfactor determines the time needed to turn for one degree. * @param drivefactor determines the size of the figures. */ Turtle() { } /** * Causes the turtle to move straight for distance units. * @param distance positive or negative value for moving * forward or backward. */ public void drive(double distance) { /* go ahead */ if (distance >= 0.0) { rMotor.backward(); lMotor.backward(); } else { rMotor.forward(); lMotor.forward(); } wait((int)(Math.abs(drivefactor * distance))); rMotor.stop(); lMotor.stop(); } /** * Causes the turtle to turn around in one place, for angle degrees. * @param angle positive or negative value for turning clockwise or * anti-clockwise. */ public void turn(double angle) { turnDir(angle); wait((int)(Math.abs(angle) * turnfactor)); rMotor.stop(); lMotor.stop(); } public void turnDir(double angle) { // Check if angle is positive or negative for left (-) or right turn (+) if(angle < 0.0) { // turn left (left motor forward, right motor backward) rMotor.backward(); lMotor.forward(); } else { // turn right (left motor backward, right motor forward) rMotor.forward(); lMotor.backward(); } } public void wait(int delay) { try { Thread.sleep(delay); } catch (InterruptedException ie) { } } /** * Causes the pencil to move upward */ public void pUp() { pencilMotor.setPower(4); pencilMotor.forward(); while (isPencilDown()) { } try { Thread.sleep(1600); } catch (InterruptedException ie) { } pencilMotor.stop(); } /** * Causes the pencil to touch down */ public void pDown() { pencilMotor.setPower(4); pencilMotor.backward(); while (!isPencilDown()) { } pencilMotor.stop(); } /** * @return true if the pencil is currently down. */ public boolean isPencilDown() { return (pencilSensor.readBooleanValue()); } } |
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import josx.platform.rcx.*;
import java.lang.String;
public class WritingTurtle extends Turtle
{
WritingTurtle(double turnf, double drivef)
{
this.lMotor = Motor.C;
this.rMotor = Motor.A;
this.pencilMotor = Motor.B;
this.pencilSensor = Sensor.S2;
this.turnfactor = turnf;
this.drivefactor = drivef;
}
public void toNextChar() {
TextLCD.print("next");
if (isPencilDown()) pUp();
if (cDir == NORTH) { turn(90); cDir = EAST; }
drive(0.5); turn(-90);
LCD.clear();
}
public void write(String string) {
LCD.clear();
char[] characters = string.toCharArray();
for (int i=0; i<characters.length; i++) {
writeChar(characters[i]);
toNextChar();
}
}
public void writeChar(char character) {
TextLCD.printChar(character,4);
LCD.refresh();
Sound.beep();
if (character == 'A') {
turn(30); pDown(); drive(2.309); turn(-60); drive(-2.309);
pUp(); drive(1.155); turn(-60); pDown(); drive(1.154);
pUp(); drive(-1.154); turn(60); drive(-1.155); turn(120);
cDir = EAST;
} else
if (character == 'B') {
pDown(); drive(2);
turn(120); drive(1.155); turn(-60); drive(-1.155);
turn(60); drive(1.155); turn(-60); drive(-1.155); pUp();
turn(30); drive(1); cDir = EAST;
} else
if (character == 'C') {
pUp(); drive(2); turn(-90); drive(-1); pDown();
drive(1); turn(-90); drive(2); turn(-90); drive(1); pUp();
cDir = EAST;
} else
if (character == 'D') {
pDown(); drive(2); turn(135); drive(1.414); turn(90);
drive(1.414); pUp(); turn(45); drive(-1); turn(90);
cDir = NORTH;
} else
if (character == 'E') {
pDown(); drive(2); turn(90); drive(1); pUp(); turn(-90);
drive(-1); turn(-90); pDown(); drive(1); pUp();
turn(90); drive(-1); turn(90); pDown(); drive(1); pUp();
cDir = EAST;
} else
if (character == 'I') {
pDown(); drive(2); pUp(); drive(-2); cDir = NORTH;
} else
if (character == 'H') {
pDown(); drive(2); pUp(); drive(-1); turn(90); pDown(); drive(1);
pUp(); turn(-90); drive(1); pDown(); drive(-2); pUp(); cDir = NORTH;
} else
if (character == 'K') {
pDown(); drive(2); pUp(); turn(90); drive(1); turn(135); pDown();
drive(1.414); turn(-90); drive(1.414); pUp(); turn(-45);
cDir = EAST;
} else
if (character == 'M') {
pDown(); drive(2); turn(-45); drive(-1.414); turn(90); drive(1.414);
turn(-45); drive(-2); pUp(); cDir = NORTH;
} else
if (character == 'P') {
pDown();
drive(2); turn(-60); drive(-1.155); turn(120); drive(-1.155); pUp();
turn(-60); drive(-1); turn(90); drive(1); cDir = EAST;
} else
if (character == 'R') {
pDown(); drive(2); turn(-60); drive(-1.155); turn(120);
drive(-1.155); turn(-105); drive(-1.414); pUp(); turn(45);
cDir = NORTH;
} else
if (character == 'T') {
turn(90); drive(1); turn(-90); pDown(); drive(2); pUp();
turn(-90); drive(1); pDown();
drive(-2); pUp(); turn(90); drive(-2); cDir = NORTH;
} else
if (character == '+') {
drive(0.5); pDown(); drive(1); pUp(); drive(-0.5); turn(-90);
drive(0.5); pDown(); drive(-1); pUp(); turn(90);
drive(-1); cDir = NORTH;
}
}
}
// end of program.
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import josx.platform.rcx.*;
public class WritingTest
{
static WritingTurtle myTurtle;
public static void main (String[] aArg)
{
myTurtle = new WritingTurtle(32, 700.0);
myTurtle.write("MATH");
//myTurtle.turn(180.0);
}
}
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