JavaRCX Code

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import josx.platform.rcx.Motor;
import josx.platform.rcx.Sensor;



/**
 * JavaRCX.java 
 * Contains basic methods and variables common to all robot objectives.
 *
 * @author CS371 2002
 * @version 1.0
 * @since 1.0
 */
public class JavaRCX{
  
  public JavaRCX(){
  }
  
    
  /**
   * Which state the sensors of the robot are in - possible values are constants below.
   */
  public static int state;
  
  /**
   * A separate background thread that reads values from the light sensors and updates the state variable.
   */
  public static LightWatcher watcher = new LightWatcher();
          
  /**
   * No sensors dark.
   */
  public static final int NONE =0;			
  /**
   * Left sensor dark.
   */
  public static final int LEFT_ONLY =1;		
  /**
   * Center sensor dark.
   */
  public static final int CENTER_ONLY =2;		
  /**
   * Right sensor dark.
   */
  public static final int RIGHT_ONLY =3;		
  /**
   * Left and center sensors dark.
   */
  public static final int LEFT_CENTER =4;		
  /**
   * Left and right sensors dark.
   */
  public static final int LEFT_RIGHT =5;		
  /**
   * Center and right sensors dark.
   */
  public static final int CENTER_RIGHT =6;		
  /**
   * All sensors dark.
   */
  public static final int ALL = 7;			
  
  
  /**
   * The level at which readings are considered black by the light sensor (<=DARK)
   */
  public static final int DARK =45;
  
  /**
   * Power level of the motors.
   * Try More experimentation with power levels and how much better light sensors are able 
   * to read at different speeds of the motor.
   */
  public static final int POWER =3;
  
  /**
   * Counter variable used to estimate how far the robot should turn right when lost
   */
  public static final int R_ROTATION =100;
  
  /**
   * Counter variable used to estimate how far the robot should turn left when lost
   */
  public static final int L_ROTATION =70;
  


  /**
   * When the state NONE occurs this method will scan to the left for L_ROTATION 
   * then scan farther to the right R_ROTATION.
   * This will ultimately cause the robot to do a 360 unless it hits a black line at some point. 
   */
  public static void lost(){
    int i = 0;
    while(state == NONE && i < L_ROTATION){
      Motor.A.backward();
      Motor.C.backward();
      i++;
    }
    i = 0;
    while(state == NONE && i < R_ROTATION){
      Motor.A.forward();
      Motor.C.forward();
      i++;
    }
  }

  /**
   *    * Precondition: State must start at CENTER_ONLY.
   * Activates the sensors, sets up motor power,starts light sensor thread.
   */
  public static void initialize(){
    Sensor.S1.activate();
    Sensor.S2.activate();
    Sensor.S3.activate();
    Motor.A.setPower(POWER);
    Motor.C.setPower(POWER);
    state = CENTER_ONLY;
    watcher.start();
  }

  /**
   * Exit program with 5 second delay.
   */
  public static void powerOff(){
    try{
      Thread.sleep(5000);
    }
    catch(InterruptedException e){
    }
    System.exit(0);
  }
  
}//class
    
//