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‎.classpath

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<?xml version="1.0" encoding="UTF-8"?>
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<classpath>
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<classpathentry kind="src" path="src"/>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7"/>
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<classpathentry kind="con" path="org.lejos.ev3.ldt.LEJOS_EV3_LIBRARY_CONTAINER"/>
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<classpathentry kind="output" path="bin"/>
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</classpath>

‎.gitignore

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bin/
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*.jar
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*~
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‎.project

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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>Robot</name>
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<comment></comment>
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<projects>
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</projects>
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<buildSpec>
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<buildCommand>
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<name>org.eclipse.jdt.core.javabuilder</name>
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<arguments>
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</arguments>
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</buildCommand>
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<buildCommand>
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<name>org.lejos.ev3.ldt.leJOSEV3Builder</name>
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<arguments>
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</arguments>
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</buildCommand>
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</buildSpec>
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<natures>
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<nature>org.lejos.ev3.ldt.leJOSEV3Nature</nature>
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<nature>org.eclipse.jdt.core.javanature</nature>
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</natures>
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</projectDescription>

‎.settings/org.eclipse.jdt.core.prefs

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eclipse.preferences.version=1
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org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
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org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.7
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org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
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org.eclipse.jdt.core.compiler.compliance=1.7
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org.eclipse.jdt.core.compiler.debug.lineNumber=generate
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org.eclipse.jdt.core.compiler.debug.localVariable=generate
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org.eclipse.jdt.core.compiler.debug.sourceFile=generate
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org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
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org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
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org.eclipse.jdt.core.compiler.source=1.7

‎src/FollowTheLineEndTask.java

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import java.util.TimerTask;
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public class FollowTheLineEndTask extends TimerTask {
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private FolowTheLine Follow;
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public FollowTheLineEndTask(){
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}
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public void run() {
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}
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}

‎src/FolowTheLine.java

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public class FolowTheLine extends Thread {
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private Robot2Roues robot;
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public FolowTheLine(Robot2Roues robotUtilise) {
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robot = robotUtilise;
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}
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public void run() {
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robot.followTheLineForEver();
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}
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}

‎src/Main.java

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import java.awt.Robot;
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import java.io.DataInputStream;
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import java.io.DataOutputStream;
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import java.io.IOException;
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import java.net.MalformedURLException;
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import java.net.ServerSocket;
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import java.net.Socket;
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import java.net.UnknownHostException;
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import java.rmi.NotBoundException;
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import java.rmi.RemoteException;
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import lejos.hardware.lcd.LCD;
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import lejos.hardware.motor.EV3LargeRegulatedMotor;
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import lejos.hardware.port.MotorPort;
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import lejos.hardware.port.SensorPort;
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import lejos.hardware.sensor.EV3ColorSensor;
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import lejos.hardware.sensor.EV3TouchSensor;
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import lejos.remote.ev3.RemoteEV3;
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import lejos.hardware.Bluetooth;
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import lejos.robotics.RegulatedMotor;
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import lejos.robotics.SampleProvider;
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import lejos.utility.Delay;
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public class Main {
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public static void main(String[] args) throws NotBoundException, UnknownHostException, IOException {
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Socket s = new Socket("10.0.1.1", 1111);
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DataOutputStream out = new DataOutputStream(s.getOutputStream());
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/*RemoteEV3 ev3 = new RemoteEV3("10.0.1.1");
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ServerSocket serv = new ServerSocket(1111);
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Socket s = serv.accept(); //Wait for Laptop to connect
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DataInputStream in = new DataInputStream(s.getInputStream());
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DataOutputStream out = new DataOutputStream(s.getOutputStream());
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System.out.println(in.readUTF());*/
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}
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}

‎src/Robot2Roues.java

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import java.sql.Time;
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import java.text.SimpleDateFormat;
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import java.util.Calendar;
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import java.util.Timer;
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import java.util.TimerTask;
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import lejos.hardware.lcd.LCD;
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import lejos.hardware.motor.EV3LargeRegulatedMotor;
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import lejos.hardware.port.MotorPort;
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import lejos.hardware.port.Port;
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import lejos.hardware.port.SensorPort;
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import lejos.hardware.sensor.EV3ColorSensor;
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import lejos.robotics.SampleProvider;
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import lejos.utility.Delay;
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public class Robot2Roues {
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private EV3LargeRegulatedMotor roueGauche;
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private EV3LargeRegulatedMotor roueDroite;
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private static double Lumiere;
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private static double Correction;
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private static double VitesseB;
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private static double VitesseC;
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private static double maxSpeed;
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/**
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*
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* @param portRoueGauche
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* MotorPort.(Lettre du port)
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* @param portRoueDroite
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* MotorPort.(Lettre du port)
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*/
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public Robot2Roues(Port portRoueGauche, Port portRoueDroite) {
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roueGauche = new EV3LargeRegulatedMotor(portRoueGauche);
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roueDroite = new EV3LargeRegulatedMotor(portRoueDroite);
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}
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/*
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* public static EV3LargeRegulatedMotor MotorA = new
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* EV3LargeRegulatedMotor(MotorPort.A); public static EV3LargeRegulatedMotor
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* roueDroite = new EV3LargeRegulatedMotor(MotorPort.B); public static
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* EV3LargeRegulatedMotor roueGauche = new
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* EV3LargeRegulatedMotor(MotorPort.C); public static EV3LargeRegulatedMotor
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* MotorD = new EV3LargeRegulatedMotor(MotorPort.D);
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*/
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public int NumberClarck;
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public void rotateWaitAColour(int color, int time, int vitesse) {
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EV3LargeRegulatedMotor[] syncList = new EV3LargeRegulatedMotor[1];
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syncList[0] = roueDroite;
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roueGauche.synchronizeWith(syncList);
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roueGauche.setSpeed(1000);
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roueDroite.setSpeed(1000);
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roueGauche.startSynchronization();
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roueDroite.forward();
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roueGauche.forward();
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roueGauche.endSynchronization();
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Delay.msDelay(1000);
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roueGauche.startSynchronization();
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roueDroite.stop();
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roueGauche.stop();
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roueGauche.endSynchronization();
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}
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public void getRedAndDrawInTheBick() {
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SampleProvider ultra = new EV3ColorSensor(SensorPort.S3).getRedMode();
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float[] sample = new float[ultra.sampleSize()];
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while (true) {
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ultra.fetchSample(sample, 0);
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LCD.drawString(Double.toString(sample[0]), 1, 1);
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Delay.msDelay(100);
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LCD.clear();
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}
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}
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public void followTheLineForEver() {
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SampleProvider color = new EV3ColorSensor(SensorPort.S4).getRedMode();
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float[] sample = new float[color.sampleSize()];
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while (true) {
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color.fetchSample(sample, 0);
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Lumiere = sample[0];
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Correction = (Lumiere - 0.325) * 0.4;
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VitesseC = ((Correction * -1) + 0.4) * roueDroite.getMaxSpeed();
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VitesseB = ((Correction * 1) + 0.4) * roueGauche.getMaxSpeed();
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roueDroite.setSpeed((float) VitesseC);
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LCD.drawString(Double.toString(VitesseB), 1, 1);
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LCD.drawString(Double.toString(VitesseC), 1, 2);
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LCD.drawString(Double.toString(Lumiere), 1, 3);
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roueGauche.setSpeed((float) VitesseB);
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Delay.msDelay(10);
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roueDroite.forward();
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roueGauche.forward();
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}
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}
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public void followTheLineWait(Port capteurCouleur, double moyenCouleur, int timerMs) {
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SampleProvider color = new EV3ColorSensor(capteurCouleur).getRedMode();
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float[] sample = new float[color.sampleSize()];
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Calendar cal = Calendar.getInstance();
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SimpleDateFormat sdf = new SimpleDateFormat("HH:mm:ss");
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while(cal.compareTo(Calendar.getInstance())*-1>= timerMs){
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LCD.drawString( sdf.format(cal.getTime()), 1, 1);
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Delay.msDelay(1000);
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color.fetchSample(sample, 0);
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Lumiere = sample[0];
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Correction = (Lumiere - moyenCouleur) * 0.4;
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VitesseC = ((Correction * -1) + 0.4) * roueDroite.getMaxSpeed();
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VitesseB = ((Correction * 1) + 0.4) * roueGauche.getMaxSpeed();
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roueDroite.setSpeed((float) VitesseC);
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LCD.drawString(Double.toString(VitesseB), 1, 1);
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LCD.drawString(Double.toString(VitesseC), 1, 2);
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LCD.drawString(Double.toString(Lumiere), 1, 3);
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roueGauche.setSpeed((float) VitesseB);
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Delay.msDelay(10);
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roueDroite.forward();
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roueGauche.forward();
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}
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/*
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while (true) {
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color.fetchSample(sample, 0);
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Lumiere = sample[0];
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Correction = (Lumiere - 0.325) * 0.4;
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VitesseC = ((Correction * -1) + 0.4) * roueDroite.getMaxSpeed();
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VitesseB = ((Correction * 1) + 0.4) * roueGauche.getMaxSpeed();
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roueDroite.setSpeed((float) VitesseC);
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LCD.drawString(Double.toString(VitesseB), 1, 1);
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LCD.drawString(Double.toString(VitesseC), 1, 2);
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LCD.drawString(Double.toString(Lumiere), 1, 3);
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roueGauche.setSpeed((float) VitesseB);
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Delay.msDelay(10);
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roueDroite.forward();
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roueGauche.forward();
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}
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*/
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}
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}

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