Subject:
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Re: I need help with a method in my class RADAR
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Newsgroups:
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lugnet.robotics
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Date:
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Sun, 1 Apr 2007 16:15:56 GMT
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Original-From:
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Juan Antonio BreñaMoral,JAB, www.juanantonio.info <bren@ANTISPAMjuanantonio.info>
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Viewed:
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4213 times
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Currently, My methods runs, but the algorithm doesn run well;
//Import NXJ Packages
import java.util.*;
import lejos.nxt.*;
import javax.microedition.lcdui.Graphics;
/*
NXT LCD Dimensions:
Width: 100px; 0-99 -> 50
Height: 64px; 0-63 -> 32
*/
public class RADAR1_1 {
//Draw Radar Interface
public static void drawBackground(Graphics gObj){
gObj.drawArc(50-10, 32-10, 20,20,0,360);
gObj.drawArc(50-20, 32-20, 40,40,0,360);
gObj.drawArc(50-30, 32-30, 60,60,0,360);
//X Axis
for(int i=15;i<=85;i++){
gObj.setPixel(1,i,32);
}
//Y Axis
for(int j=0;j<=64;j++){
gObj.setPixel(1,50,j);
}
gObj.refresh();
}
/*
*
* B C
* * * * *
* * *
* * *
* * *
* * *
* *
* A
*
* A: has compass angle and the coordenates are: 50,32;
* AB: is the ultrasonic sensor value; HIPOTENUSE
* B: 90º
* C: ?
* A+B+C = 180;
*/
public static int getCoordenateX(int angle,int distance){
double CX;
CX = 0;
//Coordenadas 0 en eje de X;
int initX = 50;
CX = initX+distance;
double part3;
double part2;
part2 = angle * Math.PI/180;
part3 = Math.sin(part2);
CX = CX * part3;
return Math.round((float) CX);
}
public static int getCoordenateY(int angle,int distance){
double CY;
CY = 0;
//Coordenadas 0 en eje de Y;
int initY = 32;
CY = initY-distance;
double part2;
part2 = angle * Math.PI/180;
double part3 =
part3 = Math.cos(part2);
CY = CY * part3;
return Math.round((float) CY);
}
public static void credits(){
LCD.clear();
LCD.drawString("Juan Antonio",0,1);
LCD.drawString("Brenha. Moral",0,2);
LCD.drawString("juanantonio.info",0,3);
LCD.refresh();
}
public static void main(String [] options) throws Exception {
//Instances
Graphics g = new Graphics();
CompassSensor compass = new CompassSensor(SensorPort.S2);
UltrasonicSensor us = new UltrasonicSensor(SensorPort.S1);
Motor.A.setSpeed(900);
Motor.A.setPower(100);
drawBackground(g);
int degree;
int distance;
int memory;
while(!Button.ESCAPE.isPressed()){
distance = us.getDistance();
degree = (int) compass.getDegreesCartesian();
memory = (int)(Runtime.getRuntime().freeMemory());
if(distance <= 60){
Sound.playTone(50, 100);
}
int X;
int Y;
//Interface show obstacles with a distance in range 60cm.
if(distance <=60){
X = getCoordenateX(degree, distance);
Y = getCoordenateY(degree, distance);
g.setPixel(1,X,Y);
g.refresh();
}
//Is better to put LCD commands after the commands using Graphics Class
LCD.drawInt(distance,0,5);
LCD.drawInt(degree,0,6);
LCD.drawInt(memory,0,7);
LCD.refresh();
Motor.A.forward();//rotate(15);
//2007/04/01
//If section because NXJ doesn't have Garbaje Collector
if(memory <= 3000){
break;
}
}
//Stop Gyroscope System
Motor.A.stop();
credits();
Thread.sleep(2000);
}
}
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Message is in Reply To:
 | | I need help with a method in my class RADAR
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| Hello guys, Yesterday, started to program with new NXJ realease. Currently I am developing a Radar Interface using Hitechnics Compass Sensor and Ultrasonic Sensor. I need your help with 2 methods: public static int getCoordenateX(int angle,int (...) (17 years ago, 1-Apr-07, to lugnet.robotics)
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