added .gitignore and project cleanup

Author: knodel

.gitignore

@@ -0,0 +1,23 @@
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# Eclipse Project
+.classpath
+.project
+.settings/
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+

bin/ev3/robot/BarrierDetector.class

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+package ev3.robot;
+
+import lejos.hardware.Button;
+import lejos.hardware.lcd.LCD;
+import lejos.hardware.port.SensorPort;
+import lejos.hardware.sensor.EV3IRSensor;
+import lejos.robotics.SampleProvider;
+import lejos.hardware.motor.Motor;
+
+public class BarrierDetector extends Thread {
+	
+	EV3IRSensor ir = new EV3IRSensor(SensorPort.S4);
+	SampleProvider distance = ir.getDistanceMode();
+	
+	boolean stop = false;
+	
+	public boolean getBarrier(){
+		return stop;
+	}
+	
+	@Override
+	public void run(){
+		
+		System.out.println("Distance: starting sensor...");
+			        		
+		while(true) {
+			if(getDistance() < 10){
+				Button.LEDPattern(2);
+				System.out.println("Distance: barrier found!");
+				System.out.println("    Moving camera up");
+				stop = true;
+				Motor.B.rotate(1000);
+				
+				try {
+					Thread.sleep(10);
+				} catch (InterruptedException e) {
+					System.out.println("Error sleeping!");
+				}
+				 
+				while(getDistance() < 10){
+					try {
+						Thread.sleep(10);
+					} catch (InterruptedException e) {
+						System.out.println("Error sleeping!");
+					}
+				}
+				
+				if(getDistance() >= 10){
+					System.out.println("    Route free");
+					System.out.println("    Moving camera down");
+					Button.LEDPattern(1);
+					Motor.B.rotate(-1000);
+					
+					stop = false;
+				}
+			} 
+		}
+	}
+	
+	public float getDistance(){
+		float[] sample = new float[distance.sampleSize()];
+		distance.fetchSample(sample, 0);
+		return sample[0];
+	}
+	
+	/**
+	 * Displays the current sensor values.
+	 */
+	public void printLiveData() {
+		LCD.clearDisplay();
+		while (true) {
+			LCD.setAutoRefreshPeriod(2);
+			LCD.drawString("- sonic sensor -", 0, 1);
+			float[] sample = new float[distance.sampleSize()];
+			distance.fetchSample(sample, 0);
+		    LCD.drawString( String.valueOf(sample[0]), 0, 3);
+			
+		    if(Button.readButtons() == Button.ID_ENTER){
+				LCD.clearDisplay();
+				break;
+			}
+		}
+	}
+	
+	/**
+	 * @param args
+	 */
+	public static void main(String[] args) {
+		
+		BarrierDetector barrier = new BarrierDetector();
+		new EV3Exit().start();
+		
+		barrier.printLiveData();
+		barrier.start();
+	}
+
+}

bin/ev3/robot/EV3Exit.class

@@ -0,0 +1,41 @@
+package ev3.robot;
+
+import lejos.hardware.Button;
+
+
+/**
+ * Simple thread which quits the application if a button is pressed
+ * @author Oliver
+ */
+public class EV3Exit extends Thread{
+
+	private int exitButton;
+	
+	/**
+	 * Default constructor with escape as exit button
+	 */
+	public EV3Exit(){
+		this.exitButton = Button.ID_ESCAPE;
+	}
+	
+	/**
+	 * User defined exit button
+	 * @param exitButton
+	 */
+	public EV3Exit(int exitButton){
+		this.exitButton = exitButton;
+	}
+	
+	/**
+	 * Starts the thread
+	 */
+	@Override
+	public void run() {
+		while (true) {
+			if(Button.readButtons() == exitButton){
+				System.exit(MAX_PRIORITY);
+			}
+		}
+	}
+
+}

bin/ev3/robot/Hello.class

@@ -0,0 +1,17 @@
+package ev3.robot;
+
+import lejos.hardware.Button;
+import lejos.hardware.lcd.LCD;
+
+public class Hello {
+
+    public static void main(String[] args) {
+        LCD.clear();
+        LCD.drawString("Hallo EV3...", 0, 5);
+        Button.waitForAnyPress();
+        LCD.clear();
+        LCD.refresh();
+
+    }
+
+}

bin/ev3/robot/LineDetector.class

@@ -0,0 +1,209 @@
+package ev3.robot;
+
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+
+import lejos.hardware.Button;
+import lejos.hardware.sensor.EV3ColorSensor;
+import lejos.hardware.lcd.LCD;
+import lejos.hardware.motor.Motor;
+import lejos.hardware.port.SensorPort;
+import lejos.robotics.navigation.DifferentialPilot;
+
+
+/**
+ * Detects a line...
+ * 
+ * @author Oliver
+ */
+public class LineDetector {
+	
+    //private LightSensor light = new LightSensor(SensorPort.S3);
+    private EV3ColorSensor light = new EV3ColorSensor(SensorPort.S3);
+	
+	private float high = 0.0f;
+	private float low  = 2.0f;
+	private float diff = 0;
+	private float threshold = 0.5f;
+	
+	/**
+	 * true  : bright line on dark background
+	 * false : dark line on bright background 
+	 */
+	private boolean lineColor = false;
+	private boolean detected = false;
+	
+	/**
+	 * @return LightSensor
+	 */
+	public EV3ColorSensor getLightSensor() {
+		return light;
+	}
+
+	/**
+	 * @return the computed threshold between the two "colors"
+	 */
+	public float getThreshold() {
+		return threshold;
+	}
+	
+	/**
+	 * @return true if the line is bright and false if it is dark
+	 */
+	public boolean getLineColor() {
+		return lineColor;
+	}
+	
+	/**
+	 * @return true if a line is detected during the calibration
+	 */
+	public boolean lineDetected() {
+		return detected;
+	}
+	
+	/**
+	 * @return true if a line is found
+	 */
+	public boolean isLine(){
+		if(getRedSensorValue() > threshold){
+			if(lineColor){
+				return true;
+			} else {
+				return false;
+			}
+		} else {
+			if(lineColor){
+				return false;
+			} else {
+				return true;
+			}
+		}
+	}
+	
+	/**
+	 * Measures the brightness of the surrounding underground
+	 * and computes threshold and line "color"
+	 * 
+	 * @param pilot - necessary for the rotation
+	 * @return true if a line is detected
+	 */
+	public boolean calibrate(DifferentialPilot pilot){
+		
+		List<Float> lightList = new ArrayList<Float>();
+		float sum = 0;
+		
+		high = 0.0f;
+		low  = 2.0f;
+		diff = 0;
+		threshold = 0.3f;
+		pilot.setRotateSpeed(16);//12
+	    pilot.rotate(360, true);
+		while (pilot.isMoving()) {
+			lightList.add(getRedSensorValue());
+		}
+		
+		Iterator<Float> iter = lightList.iterator();
+		
+		while(iter.hasNext()){
+			float next = iter.next();
+			sum += next;
+			if(next < low) {
+				low = next;
+			}
+			if(next > high) {
+				high = next;
+			}
+		}
+		
+		diff = high - low;
+		
+		//line detected?
+		if(diff < 0.2f) {
+			detected = false;
+			return false;
+		}
+		detected = true;
+		
+		if((sum / lightList.size()) < threshold) lineColor = true; else lineColor = false;
+		threshold = low + (diff/2);
+		
+		return true;
+	}
+	
+	/**
+	 * Displays the current sensor values.
+	 */
+	public void printLiveData() {
+		LCD.clearDisplay();
+		while (true) {
+			LCD.setAutoRefreshPeriod(2);
+			LCD.drawString("- light sensor -", 0, 1);	
+			LCD.drawString(String.valueOf(getRedSensorValue()), 4, 3);
+			
+			if(Button.readButtons() == Button.ID_ENTER){
+				LCD.clearDisplay();
+				break;
+			}
+		}
+	}
+	
+	/**
+	 * Read float value (Red mode)
+	 * @return
+	 */
+	public float getRedSensorValue(){
+		float[] sample = new float[light.getRedMode().sampleSize()];
+		light.getRedMode().fetchSample(sample, 0);
+		return sample[0];
+	}
+	
+	/**
+	 * Displays the data collected during a calibration
+	 */
+	public void printInfo() {
+		LCD.clearDisplay();
+		
+		System.out.println("- light sensor -");
+		System.out.println("high: " + high);
+		System.out.println("low: " + low);
+		System.out.println("diff: " + diff);
+		System.out.println("average: " + threshold);
+		
+		if(detected) {
+			System.out.println("line found:");
+			if(lineColor) {
+				System.out.println("bright");
+			} else {
+				System.out.println("dark");
+			}
+		} else {
+			System.out.println("no line found!");
+		}
+	}
+
+	/**
+	 * Test  
+	 * @param args
+	 */
+	public static void main(String[] args) {
+		LineDetector sensors = new LineDetector();
+		new EV3Exit().start();
+
+		DifferentialPilot pilot = new DifferentialPilot(2.42f, 11.5f, Motor.A, Motor.D, true);
+		sensors.printLiveData();
+		sensors.calibrate(pilot);
+		sensors.printInfo();
+		Button.waitForAnyPress();
+		
+		while(true) {
+			if(sensors.isLine()){
+				System.out.println("line");
+			} else {
+				System.out.println("no line");
+			}
+			Button.waitForAnyPress();
+		}
+	}
+
+}