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jabrenajabrena
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Adding examples for NXTCam & AbsoluteIMU
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+546
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lines changed

‎ev3dev-lang-java/build.gradle‎

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//Gradle file library ev3dev-lang-java / examples
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//Author: Juan Antonio Breña Moral
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version = '0.6.1'
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version = '0.7.0'
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apply plugin: 'java'
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apply plugin: 'eclipse'
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}
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dependencies {
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compile("com.github.ev3dev-lang-java:ev3dev-lang-java:v0.7.1-SNAPSHOT")
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compile("com.github.ev3dev-lang-java:lejos-navigation:v0.1.0")
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compile("com.github.ev3dev-lang-java:ev3dev-lang-java:0.7.0")
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compile("com.github.ev3dev-lang-java:lejos-navigation:0.2.0")
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compile("ch.qos.logback:logback-classic:1.2.3")
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}

‎ev3dev-lang-java/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMUAccelerationTest.java‎

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package ev3dev.sensors.mindsensors;
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import lejos.hardware.port.SensorPort;
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import lejos.robotics.SampleProvider;
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import lejos.utility.Delay;
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/**
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* Created by jabrena on 3/9/17.
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*/
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public class AbsoluteIMUAccelerationTest {
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private static int HALF_SECOND = 500;
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public static void main(String[] args) {
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System.out.println("Absolute IMU Demo");
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final AbsoluteIMU absoluteIMU = new AbsoluteIMU(SensorPort.S1);
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SampleProvider sp = absoluteIMU.getAccelerationMode();
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int sampleSize = sp.sampleSize();
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System.out.println("Sample Size:" + sampleSize);
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float[] sample = new float[sampleSize];
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// Takes some samples and prints them
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for (int i = 0; i < 10; i++) {
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sp.fetchSample(sample, 0);
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System.out.println("N={} Sample={}" + i + " " + sample[0]);
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System.out.println("N={} Sample={}" + i + " " + sample[1]);
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System.out.println("N={} Sample={}" + i + " " + sample[2]);
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Delay.msDelay(HALF_SECOND);
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}
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}
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}

‎ev3dev-lang-java/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMUCompassTest.java‎

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package ev3dev.sensors.mindsensors;
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import lejos.hardware.port.SensorPort;
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import lejos.robotics.SampleProvider;
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import lejos.utility.Delay;
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/**
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* Created by jabrena on 3/9/17.
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*/
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public class AbsoluteIMUCompassTest {
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private static int HALF_SECOND = 500;
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public static void main(String[] args) {
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System.out.println("Absolute IMU Demo");
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final AbsoluteIMU absoluteIMU = new AbsoluteIMU(SensorPort.S1);
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SampleProvider sp = absoluteIMU.getCompassMode();
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int sampleSize = sp.sampleSize();
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System.out.println("Sample Size:" + sampleSize);
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float[] sample = new float[sampleSize];
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// Takes some samples and prints them
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for (int i = 0; i < 10; i++) {
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sp.fetchSample(sample, 0);
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System.out.println("N={} Sample={}" + i + " " + sample[0]);
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Delay.msDelay(HALF_SECOND);
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}
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}
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}

‎ev3dev-lang-java/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMUGyroTest.java‎

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package ev3dev.sensors.mindsensors;
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import lejos.hardware.port.SensorPort;
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import lejos.robotics.SampleProvider;
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import lejos.utility.Delay;
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/**
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* Created by jabrena on 3/9/17.
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*/
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public class AbsoluteIMUGyroTest {
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private static int HALF_SECOND = 500;
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public static void main(String[] args) {
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System.out.println("Absolute IMU Demo");
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final AbsoluteIMU absoluteIMU = new AbsoluteIMU(SensorPort.S1);
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SampleProvider sp = absoluteIMU.getGyroMode();
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int sampleSize = sp.sampleSize();
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System.out.println("Sample Size:" + sampleSize);
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float[] sample = new float[sampleSize];
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// Takes some samples and prints them
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for (int i = 0; i < 10; i++) {
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sp.fetchSample(sample, 0);
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System.out.println("N={} Sample={}" + i + " " + sample[0]);
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System.out.println("N={} Sample={}" + i + " " + sample[1]);
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System.out.println("N={} Sample={}" + i + " " + sample[2]);
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Delay.msDelay(HALF_SECOND);
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}
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}
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}

‎ev3dev-lang-java/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMUMagneticTest.java‎

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package ev3dev.sensors.mindsensors;
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import lejos.hardware.port.SensorPort;
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import lejos.robotics.SampleProvider;
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import lejos.utility.Delay;
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/**
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* Created by jabrena on 3/9/17.
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*/
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public class AbsoluteIMUMagneticTest {
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private static int HALF_SECOND = 500;
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public static void main(String[] args) {
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System.out.println("Absolute IMU Demo");
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final AbsoluteIMU absoluteIMU = new AbsoluteIMU(SensorPort.S1);
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SampleProvider sp = absoluteIMU.getMagneticMode();
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int sampleSize = sp.sampleSize();
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System.out.println("Sample Size:" + sampleSize);
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float[] sample = new float[sampleSize];
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// Takes some samples and prints them
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for (int i = 0; i < 10; i++) {
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sp.fetchSample(sample, 0);
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System.out.println("N={} Sample={}" + i + " " + sample[0]);
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System.out.println("N={} Sample={}" + i + " " + sample[1]);
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System.out.println("N={} Sample={}" + i + " " + sample[2]);
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Delay.msDelay(HALF_SECOND);
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}
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}
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}

‎ev3dev-lang-java/src/main/java/ev3dev/sensors/mindsensors/AbsoluteIMUTiltTest.java‎

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package ev3dev.sensors.mindsensors;
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import lejos.hardware.port.SensorPort;
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import lejos.robotics.SampleProvider;
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import lejos.utility.Delay;
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/**
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* <b>Mindsensors AbsoluteIMU</b><br>
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* Sensor interface for the Mindsensors AbsoluteIMU family of sensors. The
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* AbsoluteIMU sensors combine gyro, accelerometer and compass sensors in
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* various combinations in a single housing. This interface works with all
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* AbsoluteIMU models, but not all modes will work with any particular model.
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*
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*
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* <p>
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* <table border=1>
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* <tr>
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* <th colspan=4>Supported modes</th>
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* </tr>
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* <tr>
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* <th>Mode name</th>
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* <th>Description</th>
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* <th>unit(s)</th>
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* <th>Getter</th>
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* </tr>
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* <tr>
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* <td>Magnetic</td>
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* <td>Measures the strength of the magnetic field over three axes</td>
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* <td></td>
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* <td> {getMagneticMode() }</td>
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* </tr>
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* <tr>
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* <td>Compass</td>
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* <td>Measures the orientation of the sensor</td>
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* <td>Degrees, corresponding to the compass rose</td>
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* <td> {getCompassMode() }</td>
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* </tr>
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* <tr>
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* <td>Angle</td>
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* <td>Measures the orientation of the sensor</td>
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* <td>Degrees, corresponding to the right hand coordinate system</td>
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* <td> {getAngleMode() }</td>
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* </tr>
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* <tr>
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* <td>Acceleration</td>
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* <td>The Acceleration mode measures the linear acceleration of the sensor over
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* three axes</td>
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* <td>Metres/second^2</td>
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* <td> {getAccelerationMode() }</td>
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* </tr>
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* <tr>
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* <td>Rate</td>
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* <td>The Rate mode measures the angular speed of the sensor over three axes</td>
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* <td>Degrees/second</td>
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* <td> {getRateMode() }</td>
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* </tr>
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* </table>
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*
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*
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* <p>
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*
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* <b>Sensor configuration</b><br>
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* The gyro sensor of the AbsoluteIMU uses a filter to remove noise from
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* the samples. The filter can be configured using the {setGyroFilter }
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* method. <br>
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* The compass sensor of the AbsoluteIMU can be calibrated to compensate for magnetical disturbances on the robot (soft iron
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* calibration) using the {#startCalibration} and {stopCalibration}
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* methods.<p>
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* To calibrate Compass, mount it on your robot where it will be used and
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* issue startCalibration method and then rotate AbsoluteIMU slowly along all
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* three axes. (The Compass in AbsoluteIMU is a 3 axis compass, and hence
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* needs to be turned along all three axes, and if it's mounted on your robot,
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* the whole robot needs to rotate). Rotate one axis at a time, turn once in
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* clock-wise direction completing at-least 360 degrees, and then turn it in
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* anti-clock-wise direction, then go to next axis. Upon finishing turning
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* along all axes, issue stopCalibration method.
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*
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*
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* <p>
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*
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* See <a href=
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* "http://mindsensors.com/index.php?module=documents&JAS_DocumentManager_op=downloadFile&JAS_File_id=1369"
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* >Mindsensors IMU user guide"> Sensor Product page </a>
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* See <a href="http://sourceforge.net/p/lejos/wiki/Sensor%20Framework/"> The
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* leJOS sensor framework</a>
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* See {@link lejos.robotics.SampleProvider leJOS conventions for
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* SampleProviders}
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*
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* <p>
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*
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*
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* @author Andy, Juan Antonio Breña Moral
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*
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*/
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public class AbsoluteIMUTiltTest {
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private static int HALF_SECOND = 500;
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public static void main(String[] args) {
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System.out.println("Absolute IMU Demo");
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final AbsoluteIMU absoluteIMU = new AbsoluteIMU(SensorPort.S1);
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SampleProvider sp = absoluteIMU.getTiltMode();
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int sampleSize = sp.sampleSize();
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System.out.println("Sample Size:" + sampleSize);
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float[] sample = new float[sampleSize];
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// Takes some samples and prints them
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for (int i = 0; i < 10; i++) {
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sp.fetchSample(sample, 0);
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System.out.println("N={} Sample={}" + i + " " + sample[0]);
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System.out.println("N={} Sample={}" + i + " " + sample[1]);
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System.out.println("N={} Sample={}" + i + " " + sample[2]);
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Delay.msDelay(HALF_SECOND);
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}
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}
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}

‎ev3dev-lang-java/src/main/java/ev3dev/sensors/mindsensors/CreatePhotoDemo.java‎

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package ev3dev.sensors.mindsensors;
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import ev3dev.actuators.Sound;
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import ev3dev.sensors.mindsensors.NXTCamV5;
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import lejos.hardware.port.SensorPort;
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import lejos.utility.Delay;
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/**
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* Created by jabrena on 30/7/17.
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*/
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public class CreatePhotoDemo {
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public static void main(String[] args){
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System.out.println("NXTCamV5 create Photo Demo");
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final NXTCamV5 camera = new NXTCamV5(SensorPort.S1);
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int counter = 0;
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boolean flag = true;
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while (flag) {
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Delay.msDelay(5000);
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System.out.println("Creating photo");
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camera.createPhoto();
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Sound.getInstance().beep();
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Delay.msDelay(500);
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counter++;
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if(counter > 5){
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break;
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}
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}
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System.exit(0);
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}
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}

‎ev3dev-lang-java/src/main/java/ev3dev/sensors/mindsensors/CreatePhotoEV3Demo.java‎

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package ev3dev.sensors.mindsensors;
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import ev3dev.actuators.Sound;
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import ev3dev.sensors.Button;
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import ev3dev.sensors.mindsensors.NXTCamV5;
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import lejos.hardware.port.SensorPort;
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import lejos.utility.Delay;
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/**
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* Created by jabrena on 30/7/17.
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*/
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public class CreatePhotoEV3Demo {
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public static void main(String[] args){
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System.out.println("NXTCamV5 create Photo Demo");
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final NXTCamV5 camera = new NXTCamV5(SensorPort.S1);
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while (Button.ESCAPE.isUp()) {
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Button.waitForAnyPress();
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Delay.msDelay(5000);
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System.out.println("Creating photo");
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camera.createPhoto();
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Sound.getInstance().beep();
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Delay.msDelay(500);
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}
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System.exit(0);
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}
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}

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