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    Navigation: All forums > Cvs-checkins > Message List > Message Post

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    From: cvs at opencores.org<cvs@o...>
    Date: Tue Jun 5 17:36:36 CEST 2007
    Subject: [cvs-checkins] MODIFIED: jop ...
    Top
    Date: 00/07/06 05:17:36

    Added: jop/java/target/src/app/lego AudioPlayback.java
    AudioTest.java BackEMFAvg.java
    BackEMFAvgDeviation.java BackEMFTest.java
    BeQuiet.java ButtonsLedsTest.java
    CrashAvoider2.java Demo1.java Demo2.java
    FlashProgrammer.java InputTest.java
    InputTestBinary.java IsAliveTest.java
    KnightRider.java LegoBoardTest.java
    LineFollower.java ReadTrivialFS.java sound1.java
    sound2.java sound4.java
    Log:
    Adding the Lego Java Programs


    Revision Changes Path
    1.1 jop/java/target/src/app/lego/AudioPlayback.java

    http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/AudioPlayback.java?rev=1.1&content-type=text/x-cvsweb-markup

    Index: AudioPlayback.java
    ===================================================================
    package lego;

    import lego.utils.TrivialFS;

    public class AudioPlayback
    {

    // static final int SAMPLERATE = 22050;
    // static final int SAMPLERATE = 48000;
    static final int SAMPLERATE = 44100;

    static final int US_PER_SAMPLE = 23; // more correct for 44100 Hz
    //1000000/SAMPLERATE;

    /**
    * @param args
    */
    public static void main(String[] args)
    {
    // new RtThread(10, 1000000/SAMPLERATE)
    // {
    // public void run()
    {
    System.out.print("Samplerate: ");
    System.out.println(SAMPLERATE);
    System.out.print("us/sample: ");
    System.out.println(US_PER_SAMPLE);

    while (true)
    {
    int count = TrivialFS.getFileCount();

    for (int i = 0; i < count; i++)
    lego.utils.AudioPlayback.playFromTrivialFS(i, US_PER_SAMPLE);
    }
    // }
    // };

    // RtThread.startMission();
    // }
    }
    }
    }


    1.3 jop/java/target/src/app/lego/AudioTest.java

    http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/AudioTest.java.diff?r1=1.2&r2=1.3

    (In the diff below, changes in quantity of whitespace are not shown.)

    Index: AudioTest.java
    ===================================================================
    RCS file: AudioTest.java
    diff -N AudioTest.java
    --- /dev/null 1 Jan 1970 00:00:00 -0000
    +++ AudioTest.java 5 Jun 2007 15:36:36 -0000 1.3
    @@ -0,0 +1,86 @@
    +package lego;
    +
    +import lego.lib.*;
    +import joprt.RtThread;
    +
    +public class AudioTest
    +{
    + static int pcm = 0;
    + static int logFrequency = 0;
    +
    + public static void main(String[] args)
    + {
    + new RtThread(10, 61)
    + {
    + public void run()
    + {
    + int counter = 0;
    + boolean toggle = false;
    +
    + while (true)
    + {
    + if (((((1<<(13-logFrequency)))-1) & counter) == 0) + { + Speaker.write(toggle ? pcm : 0); + toggle = !toggle; + } + + waitForNextPeriod(); + counter++; + } + } + }; + + new RtThread(10, 100*1000) + { + public void run() + { + int lastpcmPercentage = pcm; + int lastlogFrequency = logFrequency; + + while(true) + { + if (Buttons.getButton(1)) + { + pcm += 5; + } + if (Buttons.getButton(0)) + { + pcm -= 5; + } + + if (Buttons.getButton(3)) + { + logFrequency += 1; + } + if (Buttons.getButton(2)) + { + logFrequency -= 1; + } + + logFrequency = Math.max(0, Math.min(13, logFrequency)); + pcm = Math.max(0, Math.min(255, pcm)); + + if (lastpcmPercentage != pcm) + { + System.out.print("PCM: "); + System.out.println(pcm); + } + lastpcmPercentage = pcm; + + if (lastlogFrequency!= logFrequency) + { + System.out.print("Frequency: "); + System.out.println(((((1<<(13-logFrequency)))-1))); + System.out.println(logFrequency); + } + lastlogFrequency = logFrequency; + + waitForNextPeriod(); + } + } + }; + + RtThread.startMission(); + } +} 1.3 jop/java/target/src/app/lego/BackEMFAvg.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/BackEMFAvg.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: BackEMFAvg.java =================================================================== RCS file: BackEMFAvg.java diff -N BackEMFAvg.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ BackEMFAvg.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,77 @@ +package lego; + +import lego.lib.*; + +import java.io.*; + +import joprt.RtThread; + +public class BackEMFAvg +{ + + /** + * @param args + */ + public static void main(String[] args) throws IOException + { + System.out.println("Starting..."); + + Motor m0 = new Motor(0); + m0.setMotor(Motor.STATE_FORWARD, true, 0); + int pwmValue = 0; + + final int VALUE_COUNT = 10; + int[][] values = new int[VALUE_COUNT][2]; + int index = 0; + + while (true) + { + if (Buttons.getButton(0)) + pwmValue = Math.max(0, pwmValue-1); + if (Buttons.getButton(1)) + pwmValue = Math.min(0x3f, pwmValue+1); + if (Buttons.getButton(3)) + m0.setMeasure(true); + if (Buttons.getButton(2)) + m0.setMeasure(false); + + m0.setDutyCycle((pwmValue * Motor.MAX_DUTYCYCLE) / 0x3f); + Leds.setLeds(pwmValue >> 2); + + RtThread.busyWait(25 * 1000); + + int backEMF[] = m0.readBackEMF(); + + values[index] = backEMF; + + int avg[] = new int[] {0,0}; + for (int i = 0; i < VALUE_COUNT; i++) + for (int j = 0; j < 2; j++) + avg[j] += values[i][j]; + + if (index == VALUE_COUNT-1) + { + System.out.print("DC: "); + System.out.print(pwmValue); + System.out.print(" bEMF: "); + } + for (int j = 0; j < 2; j++) + { + avg[j] /= VALUE_COUNT; + if (index == VALUE_COUNT-1) + { + System.out.print(avg[j] - 0x100); + System.out.print(" "); + } + } + if (index == VALUE_COUNT-1) + { + System.out.println(); + } + + + index = (index + 1) % VALUE_COUNT; + } + } + +} 1.3 jop/java/target/src/app/lego/BackEMFAvgDeviation.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/BackEMFAvgDeviation.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: BackEMFAvgDeviation.java =================================================================== RCS file: BackEMFAvgDeviation.java diff -N BackEMFAvgDeviation.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ BackEMFAvgDeviation.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,77 @@ +package lego; + +import lego.lib.*; + +import java.io.*; + +import joprt.RtThread; + +/* + * Typical deviations @ full speed + * 450 450 450 452 450 553 ~450 + * 300 440 360 405 339 290 160-467 + * + * Deviations | Avg @ 0 speed + * 3500 + * 3500 + * + * Deviations | Avg @ full speed + * 4500 + * 3600-4250 + * + * Longer buffer: + * + * Deviations | Avg @ 1 speed (bug w/ 0) + * 0 -16 + * 4801 + * + * Deviations | Avg @ full speed + * 0 -6 + * 0 -6 + */ +public class BackEMFAvgDeviation +{ + + /** + * @param args + */ + public static void main(String[] args) throws IOException + { + while (true) + { + System.out.println("Starting..."); + + Motor m0 = new Motor(0); + m0.setMotorPercentage(Motor.STATE_FORWARD, true, 1); + + RtThread.busyWait(10000 * 1000); + + final int VALUE_COUNT = 1000; + int[][] values = new int[VALUE_COUNT][2]; + + for (int i = 0; i < VALUE_COUNT; i++) + { + RtThread.busyWait(10000); + values[i] = m0.readNormalizedBackEMF(); + } + + int avg[] = new int[] {0,0}; + for (int i = 0; i < VALUE_COUNT; i++) + for (int j = 0; j < 2; j++) + avg[j] += values[i][j]; + + for (int j = 0; j < 2; j++) + avg[j] /= VALUE_COUNT; + + int dev[] = new int[] {0,0}; + for (int i = 0; i < VALUE_COUNT; i++) + for (int j = 0; j < 2; j++) + dev[j] += Math.abs(values[i][j] - avg[j]); + + for (int j = 0; j < 2; j++) + System.out.println("Sum of deviations: " + dev[j] + " Avg: " + avg[j]); + + m0.setState(Motor.STATE_OFF); + } + } +} 1.3 jop/java/target/src/app/lego/BackEMFTest.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/BackEMFTest.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: BackEMFTest.java =================================================================== RCS file: BackEMFTest.java diff -N BackEMFTest.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ BackEMFTest.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,40 @@ +package lego; + +import joprt.RtThread; +import lego.lib.*; + +public class BackEMFTest +{ + /** + * @param args + */ + public static void main(String[] args) + { + new RtThread(10, 100*1000) { + public void run() + { + Motor m0 = new Motor(0); + Motor m1 = new Motor(1); + + m0.setMeasure(true); + m1.setMeasure(true); + + while (true) + { + Motor.synchronizedReadBackEMF(); + int[] sBackEMF0 = m0.getSynchronizedBackEMF(); + int[] sBackEMF1 = m1.getSynchronizedBackEMF(); + + System.out.println( + sBackEMF0[0] + ", " + sBackEMF0[1] + "; " + sBackEMF1[0] + ", " + sBackEMF1[1]); + + waitForNextPeriod(); + } + } + + }; + + RtThread.startMission(); + } + +} 1.3 jop/java/target/src/app/lego/BeQuiet.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/BeQuiet.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: BeQuiet.java =================================================================== RCS file: BeQuiet.java diff -N BeQuiet.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ BeQuiet.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,14 @@ +package lego; + +public class BeQuiet +{ + + /** + * @param args + */ + public static void main(String[] args) + { + // remain quiet + } + +} 1.3 jop/java/target/src/app/lego/ButtonsLedsTest.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/ButtonsLedsTest.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: ButtonsLedsTest.java =================================================================== RCS file: ButtonsLedsTest.java diff -N ButtonsLedsTest.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ ButtonsLedsTest.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,19 @@ +package lego; + +import lego.lib.*; + +public class ButtonsLedsTest +{ + + /** + * @param args + */ + public static void main(String[] args) + { + while (true) + { + Leds.setLeds(Buttons.getButtons()); + } + } + +} 1.1 jop/java/target/src/app/lego/CrashAvoider2.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/CrashAvoider2.java?rev=1.1&content-type=text/x-cvsweb-markup Index: CrashAvoider2.java =================================================================== package lego; import com.jopdesign.sys.Const; import com.jopdesign.sys.Native; import joprt.RtThread; import lego.lib.*; /** * This program had been written for a specific robot we built for demonstration purposes * */ public class CrashAvoider2 { // configuration public static final boolean READ_BUTTON = true; public static final boolean READ_IR = false; // implementation public static final int IR_SENSOR = 2; public static final int IR_SENSOR_THRESHOLD = 10; public static Motor[] MOTORS; public static final int MOTOR_LEFT = 0; public static final int MOTOR_RIGHT = 1; public static final int DIFFERENCE_BUFFER_LENGTH = 3; /** * @param args */ public static void main(String[] args) { // int[] difference = new int[DIFFERENCE_BUFFER_LENGTH]; // int differenceIndex = 0; new RtThread(10, 100*1000) { public void run() { System.out.println("Ready."); Leds.setLeds(~0); MOTORS = new Motor[] { new Motor(0), new Motor(1) }; int freeValue; while (Buttons.getButtons() == 0) { System.out.println(Sensors.readSensor(IR_SENSOR)); } freeValue = Sensors.readSensor(IR_SENSOR); boolean stop = true; System.out.println("Starting..."); Leds.setLeds(0); while (true) { // if (Buttons.getButton(0)) // { // freeValue = Sensors.readSensor(IR_SENSOR); // stop = true; // System.out.println(freeValue); // } // if (Buttons.getButton(3)) // { // if (stop) // System.out.println("Restarting..."); // stop = false; // } stop = !DigitalInputs.getDigitalInput(2); if (stop) freeValue = Sensors.readSensor(IR_SENSOR); for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(stop ? Motor.STATE_OFF : Motor.STATE_FORWARD, false, 70); // difference[differenceIndex] = Sensors.readSensor(IR_SENSOR) - freeValue; // differenceIndex = (differenceIndex+1) % DIFFERENCE_BUFFER_LENGTH; // int totalDifference = 0; // for (int i = 0; i < DIFFERENCE_BUFFER_LENGTH; i++) // totalDifference += Math.abs(difference[i]); if (!stop) { int totalDifference = Sensors.readSensor(IR_SENSOR) - freeValue; boolean dirRight = false; if ((READ_BUTTON && DigitalInputs.getDigitalInput(1)) || (READ_IR && (Math.abs(totalDifference) >= IR_SENSOR_THRESHOLD))) { dirRight = (Native.rd(Const.IO_US_CNT) & 1) != 0; Leds.setLeds(dirRight ? 0x1 : 0x8); } if (READ_BUTTON && DigitalInputs.getDigitalInput(1)) { for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(Motor.STATE_BACKWARD, false, 100); RtThread.sleepMs(300); MOTORS[dirRight ? MOTOR_LEFT : MOTOR_RIGHT].setState(Motor.STATE_OFF); MOTORS[dirRight ? MOTOR_RIGHT : MOTOR_LEFT].setMotorPercentage(Motor.STATE_BACKWARD, false, 100); RtThread.sleepMs(500); for (int i = 0; i < 2; i++) MOTORS[i].setState(Motor.STATE_OFF); RtThread.sleepMs(2000); } else if (READ_IR && (Math.abs(totalDifference) >= IR_SENSOR_THRESHOLD)) { for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(Motor.STATE_BACKWARD, false, 80); RtThread.sleepMs(500); MOTORS[dirRight ? MOTOR_LEFT : MOTOR_RIGHT].setMotorPercentage(Motor.STATE_BACKWARD, false, 100); MOTORS[dirRight ? MOTOR_RIGHT : MOTOR_LEFT].setState(Motor.STATE_OFF); RtThread.sleepMs(500); } continue; } waitForNextPeriod(); } } }; RtThread.startMission(); } } 1.1 jop/java/target/src/app/lego/Demo1.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/Demo1.java?rev=1.1&content-type=text/x-cvsweb-markup Index: Demo1.java =================================================================== package lego; import _legonotforrelease.MyRtThread; import com.jopdesign.sys.Const; import com.jopdesign.sys.Native; import joprt.RtThread; import lego.lib.*; /** * This program had been written for a specific robot we built for demonstration purposes * */ public class Demo1 { // configuration public static final boolean READ_BUTTON = true; public static final boolean READ_IR = false; // implementation public static final int IR_SENSOR = 2; public static final int IR_SENSOR_THRESHOLD = 10; public static Motor[] MOTORS; public static final int MOTOR_LEFT = 0; public static final int MOTOR_RIGHT = 1; public static final int DIFFERENCE_BUFFER_LENGTH = 3; public static final int STATE_OFF = 0; public static final int STATE_LINEFOLLOWER = 1; public static final int STATE_TOUCHSENSOR = 2; public static final int STATE_IRSENSOR = 3; public static final int STATE_ALL = 4; public static int state = STATE_OFF; // Knight Rider public static final int LED0 = 1<<1; public static final int LED1 = 1<<3; public static final int LED2 = 1<<5; public static final int LED3 = 1<<7; static int val, counter, value, counter1, freeValue; static boolean up, flag, speaker_up, stop; // Sound1 public static int speed = 0x100; /** * @param args */ public static void main(String[] args) { new MyRtThread(10, 100*1000) { public void run() { val = LED0; up = true; while (true) { if (state == STATE_ALL) { if (up){ switch (val) { case LED0: val = LED1; break; case LED1: val = LED2; break; case LED2: val = LED3; break; case LED3: { up = false; val = LED2; break; } default: val = LED0; break; } } else { switch (val) { case LED0: { up = true; val = LED1; break; } case LED1: val = LED0; break; case LED2: val = LED1; break; default: val = LED0; break; } } } else { val = 0; } FutureUse.writePins(val); waitForNextPeriod(); } } }; new MyRtThread(10, 1*100) { public void run() { up = true; flag = false; value = 10; speed = 0x100; while (true) { if (state == STATE_ALL) { counter++; if ((counter % value) == 0) { if (flag) { flag = false; } else { flag = true; } } counter1++; if ((counter1 % speed) == 0) { if (speaker_up) { value++; if (value >= 50) { speaker_up = false; value--; } } else { value--; if (value <= 10) { speaker_up = true; value++; } } } } else { flag = false; } if (flag) { Speaker.write(true); } else Speaker.write(false); waitForNextPeriod(); } } }; new MyRtThread(10, 100*1000) { public void run() { System.out.println("Main thread ready."); MOTORS = new Motor[] { new Motor(0), new Motor(1) }; freeValue = 0; stop = true; while (true) { for (int i = 0; i < 4; i++) if (Buttons.getButton(i)) { state = i; Leds.setLed(1, (state & 1) != 0); Leds.setLed(2, (state & 2) != 0); break; } stop = !DigitalInputs.getDigitalInput(2); if ((Buttons.getButtons() != 0) || stop) freeValue = Sensors.readSensor(IR_SENSOR); switch (state) { case STATE_OFF: { for (int i = 0; i < 2; i++) MOTORS[i].setState(Motor.STATE_OFF); break; } case STATE_LINEFOLLOWER: { break; } case STATE_TOUCHSENSOR: case STATE_IRSENSOR: case STATE_ALL: { for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(stop ? Motor.STATE_OFF : Motor.STATE_FORWARD, false, 70); if (!stop) { int totalDifference = Sensors.readSensor(IR_SENSOR) - freeValue; if (((state == STATE_IRSENSOR)||(state == STATE_ALL)) && (Math.abs(totalDifference) >= IR_SENSOR_THRESHOLD)) { turnback(false); } else if ((state == STATE_TOUCHSENSOR)&&(DigitalInputs.getDigitalInput(1))) { turnback(true); } } break; } } waitForNextPeriod(); } } void turnback(boolean fast) { int turnspeed, turnsleep; boolean dirRight = false; if (fast) { turnspeed = 80; turnsleep = 500; } else { turnspeed = 70; turnsleep = 1000; } speed += 0x50; dirRight = (Native.rd(Const.IO_US_CNT) & 1) != 0; Leds.setLed(0, dirRight); Leds.setLed(3, !dirRight); for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(Motor.STATE_BACKWARD, false, turnspeed); rtSleep(turnsleep); MOTORS[dirRight ? MOTOR_LEFT : MOTOR_RIGHT].setMotorPercentage(Motor.STATE_BACKWARD, false, 100); MOTORS[dirRight ? MOTOR_RIGHT : MOTOR_LEFT].setState(Motor.STATE_OFF); rtSleep(500); speed -= 0x50; Leds.setLed(0, false); Leds.setLed(3, false); } }; RtThread.startMission(); } } 1.1 jop/java/target/src/app/lego/Demo2.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/Demo2.java?rev=1.1&content-type=text/x-cvsweb-markup Index: Demo2.java =================================================================== package lego; import _legonotforrelease.MyRtThread; import com.jopdesign.sys.Const; import com.jopdesign.sys.Native; import joprt.RtThread; import lego.lib.*; import lego.lib.Motor; /** * This program had been written for a specific robot we built for demonstration purposes * */ public class Demo2 { // configuration public static final boolean READ_BUTTON = true; public static final boolean READ_IR = false; // implementation public static final int IR_SENSOR = 2; public static final int IR_SENSOR_THRESHOLD = 10; public static Motor[] MOTORS; public static final int MOTOR_LEFT = 0; public static final int MOTOR_RIGHT = 1; public static final int DIFFERENCE_BUFFER_LENGTH = 3; public static final int STATE_OFF = 0; public static final int STATE_LINEFOLLOWER = 1; public static final int STATE_TOUCHSENSOR = 2; public static final int STATE_IRSENSOR = 3; public static final int STATE_ALL = 4; public static int state = STATE_OFF; // Knight Rider public static final int LED0 = 1<<1; public static final int LED1 = 1<<3; public static final int LED2 = 1<<5; public static final int LED3 = 1<<7; static int val, counter, value, counter1, freeValue; static boolean up, flag, speaker_up, stop; // Sound1 public static int speed = 0x100; /** * @param args */ public static void main(String[] args) { new MyRtThread(10, 1*100) { public void run() { up = true; flag = false; value = 10; speed = 0x400; while (true) { if (state == STATE_ALL) { counter++; if ((counter % value) == 0) { if (flag) { flag = false; } else { flag = true; } } counter1++; if ((counter1 % speed) == 0) { if (speaker_up) { value++; if (value >= 50) { speaker_up = false; value--; } } else { value--; if (value <= 10) { speaker_up = true; value++; } } } } else { flag = false; } if (flag) { Speaker.write(true); } else Speaker.write(false); waitForNextPeriod(); } } }; new RtThread(10, 100*1000) { public void run() { val = LED0; up = true; while (true) { if (state == STATE_ALL) { if (up){ switch (val) { case LED0: val = LED1; break; case LED1: val = LED2; break; case LED2: val = LED3; break; case LED3: { up = false; val = LED2; break; } default: val = LED0; break; } } else { switch (val) { case LED0: { up = true; val = LED1; break; } case LED1: val = LED0; break; case LED2: val = LED1; break; default: val = LED0; break; } } } else if (state != STATE_LINEFOLLOWER) { val = 0; } FutureUse.writePins(val); waitForNextPeriod(); } } }; new RtThread(10, 50*1000) { public void run() { int forwardCount = 0; System.out.println("Main thread ready."); MOTORS = new Motor[] { new Motor(0), new Motor(1) }; freeValue = 0; stop = true; while (true) { for (int i = 0; i < 4; i++) if (Buttons.getButton(i)) { state = i+1; //System.out.println(state); Leds.setLed(1, (i & 1) != 0); Leds.setLed(2, (i & 2) != 0); break; } stop = !DigitalInputs.getDigitalInput(2); if ((Buttons.getButtons() != 0) || stop) freeValue = Sensors.readSensor(IR_SENSOR); if (stop) for (int i = 0; i < 2; i++) MOTORS[i].setState(Motor.STATE_OFF); // System.out.print(MOTORS[0].readNormalizedBackEMF()[0]); // System.out.print(" "); // System.out.print(MOTORS[0].readNormalizedBackEMF()[1]); // System.out.println(); switch (state) { case STATE_OFF: { for (int i = 0; i < 2; i++) MOTORS[i].setState(Motor.STATE_OFF); break; } case STATE_LINEFOLLOWER: { if (!stop) { int val = Sensors.readSensor(IR_SENSOR); //System.out.println(val); boolean black = val > 285; // XXX //boolean black = val > freeValue - 5; MOTORS[MOTOR_LEFT].setDutyCyclePercentage(60); MOTORS[MOTOR_RIGHT].setDutyCyclePercentage(60); if (black) { MOTORS[MOTOR_RIGHT].setState(Motor.STATE_FORWARD); MOTORS[MOTOR_LEFT].setState(Motor.STATE_BRAKE); FutureUse.writePins(LED0 | LED3); } else { MOTORS[MOTOR_LEFT].setState(Motor.STATE_FORWARD); MOTORS[MOTOR_RIGHT].setState(Motor.STATE_BRAKE); FutureUse.writePins(LED1 | LED2); } } break; } case STATE_TOUCHSENSOR: case STATE_IRSENSOR: case STATE_ALL: { //System.out.println(stop ? "stop" : "!stop"); if (!stop) { for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(Motor.STATE_FORWARD, true, 40); int totalDifference = Sensors.readSensor(IR_SENSOR) - freeValue; if (forwardCount >= 60) { if (MOTORS[0].readNormalizedBackEMF()[1] <= 5) { Leds.setLeds(0x9); turnback(false); } } if (((state == STATE_IRSENSOR)||(state == STATE_ALL)) && (Math.abs(totalDifference) >= IR_SENSOR_THRESHOLD)) { turnback(true); } else if ((state == STATE_TOUCHSENSOR || state == STATE_ALL) && (forwardCount >= 6) && (DigitalInputs.getDigitalInput(1))) { turnback(false); } } break; } } { boolean goingForward = false; for (int i = 0; i < 2; i++) { if (MOTORS[i].getState() == Motor.STATE_FORWARD) { goingForward = true; break; } } forwardCount = goingForward ? forwardCount + 1 : 0; } waitForNextPeriod(); } } void turnback(boolean fast) { int turnspeed, turnsleep; boolean dirLeft = false; if (fast) { turnspeed = 80; turnsleep = 300; } else { turnspeed = 70; turnsleep = 400; } speed = !fast ? 0x400 : 0x50 ; dirLeft = (Native.rd(Const.IO_US_CNT) & 1) != 0; //Leds.setLed(0, dirLeft); //Leds.setLed(3, !dirLeft); for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(Motor.STATE_BACKWARD, false, 100); RtThread.sleepMs(100); for (int i = 0; i < 2; i++) MOTORS[i].setMotorPercentage(Motor.STATE_BACKWARD, false, turnspeed); RtThread.sleepMs(turnsleep-100); MOTORS[dirLeft ? MOTOR_LEFT : MOTOR_RIGHT].setMotorPercentage(Motor.STATE_BACKWARD, false, 70); MOTORS[dirLeft ? MOTOR_RIGHT : MOTOR_LEFT].setState(Motor.STATE_OFF); RtThread.sleepMs(600); speed = 0x400; Leds.setLed(0, false); Leds.setLed(3, false); } }; RtThread.startMission(); } } 1.1 jop/java/target/src/app/lego/FlashProgrammer.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/FlashProgrammer.java?rev=1.1&content-type=text/x-cvsweb-markup Index: FlashProgrammer.java =================================================================== package lego; import java.io.IOException; import lego.lib.Leds; import util.Amd; /** * Reads in a TrivialFS. * @author Peter Hilber (peter.hilber@s...) * */ public class FlashProgrammer { static final int BLOCK_SIZE = 0x10000; static final int FLASH_SIZE = BLOCK_SIZE * 8; /** * @param args */ public static void main(String[] args) throws IOException { Leds.setLeds(0x3); { for (int i = 0; i < FLASH_SIZE; i += BLOCK_SIZE) Amd.erase(i); } System.out.println("Done erasing, ready for input."); Leds.setLeds(0x3 << 2); int index = 0; int fileIndex = 0; int length = 0; while (true) { if (fileIndex == 4 + length) fileIndex = 0; int ch = System.in.read(); if (fileIndex == 0) length = ch << 24; if (fileIndex == 1) length |= ch << 16; if (fileIndex == 2) length |= ch << 8; if (fileIndex == 3) { length |= ch; } Amd.program(index, ch); //System.out.print((char)0x55); // System.out.print("Programming "); // System.out.print(index); // System.out.print(": "); // System.out.print(bin); // System.out.print(" "); // System.out.println(Amd.read(index) == bin ? "succeeded" : "failed"); fileIndex++; index++; if (fileIndex == 4) { // System.out.print("File length: "); // System.out.println(length); if (length == 0) break; } } Leds.setLeds(~0); System.out.print("Written: "); System.out.println(index); ReadTrivialFS.main(args); } } 1.3 jop/java/target/src/app/lego/InputTest.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/InputTest.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: InputTest.java =================================================================== RCS file: InputTest.java diff -N InputTest.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ InputTest.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,18 @@ +package lego; + +import java.io.IOException; + +import lego.lib.Leds; + +public class InputTest +{ + public static void main(String[] args) throws IOException + { + System.out.println("Waiting for input to echo..."); + while (true) + { + System.out.print((char)System.in.read()); + Leds.setLeds(~Leds.getLeds()); + } + } +} 1.1 jop/java/target/src/app/lego/InputTestBinary.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/InputTestBinary.java?rev=1.1&content-type=text/x-cvsweb-markup Index: InputTestBinary.java =================================================================== package lego; import java.io.IOException; public class InputTestBinary { public static void main(String[] args) throws IOException { System.out.println("Waiting for input to echo..."); while (true) { System.out.print(System.in.read()); } } } 1.3 jop/java/target/src/app/lego/IsAliveTest.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/IsAliveTest.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: IsAliveTest.java =================================================================== RCS file: IsAliveTest.java diff -N IsAliveTest.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ IsAliveTest.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,20 @@ +package lego; + +import lego.lib.*; + +public class IsAliveTest +{ + + /** + * @param args + */ + public static void main(String[] args) + { + while (true) + { + for (int i = 0; i < 4; i++) + Leds.blinkUpdate(i); + } + } + +} 1.1 jop/java/target/src/app/lego/KnightRider.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/KnightRider.java?rev=1.1&content-type=text/x-cvsweb-markup Index: KnightRider.java =================================================================== package lego; import joprt.RtThread; import lego.lib.FutureUse; public class KnightRider { public static final int LED0 = 1<<1; public static final int LED1 = 1<<7; public static final int LED2 = 1<<5; public static final int LED3 = 1<<4; static int val; static boolean up; public static void init() { val = LED0; up = true; } public static void loop() { FutureUse.writePins(val); //Native.wr(val, IO_LEDS); RtThread.sleepMs(100); if (up){ switch (val) { case LED0: val = LED1; break; case LED1: val = LED2; break; case LED2: val = LED3; break; case LED3: { up = false; val = LED2; break; } default: val = LED0; break; } } else { switch (val) { case LED0: { up = true; val = LED1; break; } case LED1: val = LED0; break; case LED2: val = LED1; break; default: val = LED0; break; } } } public static void main(String[] agrgs) { System.out.println("Hello LEGO world!"); init(); new RtThread(10, 100*1000) { public void run() { for (;;) { loop(); waitForNextPeriod(); } } }; RtThread.startMission(); for (;;) { loop(); } } } 1.1 jop/java/target/src/app/lego/LegoBoardTest.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/LegoBoardTest.java?rev=1.1&content-type=text/x-cvsweb-markup Index: LegoBoardTest.java =================================================================== package lego; import com.jopdesign.sys.*; import joprt.RtThread; import lego.lib.Buttons; import lego.lib.DigitalInputs; import lego.lib.FutureUse; import lego.lib.Leds; import lego.lib.Microphone; import lego.lib.Motor; import lego.lib.Sensors; import lego.lib.Speaker; /** * * @author Peter Hilber (peter.hilber@s...) and Alexander Dejaco (alexander.dejaco@s...) * */ public class LegoBoardTest { // configuration static final boolean REPEAT = true; static final int INTERVAL = 1000; static final boolean SPEAKER_DEMO = true; static final boolean BUTTONS = true; static final boolean DIGITALINPUTS = true; static final boolean FUTUREUSE = true; static final boolean LEDS = true; static final boolean MICROPHONE = true; static final boolean MOTORS = false; static final boolean SENSORS = true; static final boolean PLD_RAW_INPUT = true; static final boolean KNIGHT_RIDER_DEMO = true; static final boolean FREEMEMORY = true; public static final int LED0 = 1<<1; public static final int LED1 = 1<<3; public static final int LED2 = 1<<5; public static final int LED3 = 1<<7; static int val, counter, value, counter1; static boolean up, flag, speaker_up; public static void knightRiderLoop() { FutureUse.writePins(val); //Native.wr(val, IO_LEDS); if (up){ switch (val) { case LED0: val = LED1; break; case LED1: val = LED2; break; case LED2: val = LED3; break; case LED3: { up = false; val = LED2; break; } default: val = LED0; break; } } else { switch (val) { case LED0: { up = true; val = LED1; break; } case LED1: val = LED0; break; case LED2: val = LED1; break; default: val = LED0; break; } } } public static void speakerLoop() { counter++; if ((counter % value) == 0) { if (flag) { flag = false; } else { flag = true; } } counter1++; if ((counter1 % 0x200) == 0) { if (speaker_up) { value++; if (value >= 50) { speaker_up = false; value--; } } else { value--; if (value <= 10) { speaker_up = true; value++; } } } if (flag) { Speaker.write(true); } else Speaker.write(false); } /** * @param args */ public static void main(String[] args) { System.out.println("Initializing."); /* Motor.setMotor(0, Motor.STATE_FORWARD, true, Motor.MAX_DUTYCYCLE); Motor.setMotor(1, Motor.STATE_FORWARD, true, Motor.MAX_DUTYCYCLE); Motor.setMotor(2, Motor.STATE_FORWARD, true, Motor.MAX_DUTYCYCLE); //Native.wr(-1 << 1, Motor.IO_OUTPUT_MOTOR[1]); */ if (KNIGHT_RIDER_DEMO) { val = LED0; up = true; new RtThread(10, 100*1000) { public void run() { for (;;) { knightRiderLoop(); waitForNextPeriod(); } } }; } if (SPEAKER_DEMO) { up = true; flag = false; value = 10; new RtThread(10, 1*100) { public void run() { for (;;) { speakerLoop(); waitForNextPeriod(); } } }; } new RtThread(10, 1000*1000) { public void run() { StringBuffer output = new StringBuffer(500); do { output.setLength(0); output.append("New measurement...\n\n"); if (FREEMEMORY) { output.append("Free memory: ").append(GC.freeMemory()).append("\n"); } if (BUTTONS) { for (int i = 0; i < 4; i++) { // uncomment this to have fun with javac //System.out.println("Button " + i + ": " + Buttons.getButton(i)); // uncomment this to have fun with JOP //System.out.println("Button " + i + ": " + new Boolean(Buttons.getButton(i))); output.append("Button ").append(i).append(": ").append(Buttons.getButton(i) ? "Down" : "Up").append("\n"); } } if (DIGITALINPUTS) { for (int i = 0; i < 3; i++) output.append("Digital input ").append(i).append(": ").append(DigitalInputs.getDigitalInput(i) ? "1" : "0").append("\n"); } if (FUTUREUSE) { output.append("Unknown input: 0x").append( Integer.toHexString((FutureUse.readPins()))).append("\n"); } if (LEDS) { Leds.setLeds(-1); } if (MICROPHONE) { output.append("Microphone: ").append(Microphone.readMicrophone()).append("\n"); } if (MOTORS) { Motor.synchronizedReadBackEMF(); for (int i = 0; i < 2; i++) { int[] backEMF = new Motor(i).getSynchronizedBackEMF(); output.append( "Motor ").append(i).append(" back-emf measurement: ").append(backEMF[0] - 0x100).append(", ").append(backEMF[1] - 0x100).append("\n"); } } if (SENSORS) { Sensors.synchronizedReadSensors(); for (int i = 0; i < 3; i++) output.append("Analog sensor ").append(i).append(": ").append(Sensors.getBufferedSensor(i)).append( " (").append(Sensors.readSensorValueAsPercentage(i)).append(("%)")).append("\n"); } if (PLD_RAW_INPUT) { output.append("PLD raw input: ").append(Native.rd(Const.IO_LEGO + 7)).append("\n"); } output.append("\nMeasurement finished.\n\n"); //output.append("Length: ").append(output.length()).append(" Capacity: " ).append(output.capacity()).append("\n"); System.out.print(output); if (!REPEAT) break; waitForNextPeriod(); } while (true); } }; RtThread.startMission(); System.out.println("Started."); } } 1.4 jop/java/target/src/app/lego/LineFollower.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/LineFollower.java.diff?r1=1.3&r2=1.4 (In the diff below, changes in quantity of whitespace are not shown.) Index: LineFollower.java =================================================================== RCS file: LineFollower.java diff -N LineFollower.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ LineFollower.java 5 Jun 2007 15:36:36 -0000 1.4 @@ -0,0 +1,71 @@ +package lego; + +/** + * Originally ran on prototype board. Ported to LRBJOP interface. Untested. + */ + +import lego.lib.*; + +import joprt.RtThread; + +public class LineFollower { + + static final int IR_SENSOR = 2; + + static final int MAX = 1000; + static Motor left, right; + static boolean black; + + public static void init() { + + left = new Motor(0); + right = new Motor(1); + + black = false; + } + + public static void loop() { + + int val = Sensors.readSensor(IR_SENSOR); + System.out.println(val); + black = val > 285; // XXX + + left.setDutyCyclePercentage(75); + right.setDutyCyclePercentage(75); + + if (black) { + right.setState(Motor.STATE_FORWARD); + left.setState(Motor.STATE_BRAKE); + } else { + left.setState(Motor.STATE_FORWARD); + right.setState(Motor.STATE_BRAKE); + } + } + + public static void main(String[] agrgs) { + + + System.out.println("Hello LEGO world!"); + + init(); + + new RtThread(10, 20*1000) { + public void run() { + for (;;) { + loop(); + waitForNextPeriod(); + } + } + }; + + RtThread.startMission(); + + for (;;) { + int val = Sensors.readSensor(IR_SENSOR); + System.out.println(val); + RtThread.sleepMs(500); + } + + } + +} 1.1 jop/java/target/src/app/lego/ReadTrivialFS.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/ReadTrivialFS.java?rev=1.1&content-type=text/x-cvsweb-markup Index: ReadTrivialFS.java =================================================================== package lego; import lego.utils.TrivialFS; public class ReadTrivialFS { static final int BLOCK_SIZE = 0x10000; static final int FLASH_SIZE = BLOCK_SIZE * 8; /** * @param args */ public static void main(String[] args) { int count = TrivialFS.getFileCount(); System.out.print("File count: "); System.out.println(count); for (int i = 0; i < count; i++) { System.out.print("File address: "); System.out.print(TrivialFS.getFileAddress(i)); System.out.print(", file size: "); System.out.println(TrivialFS.getFileSize(i)); } } } 1.3 jop/java/target/src/app/lego/sound1.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/sound1.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: sound1.java =================================================================== RCS file: sound1.java diff -N sound1.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ sound1.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,91 @@ +package lego; + +import lego.lib.*; + +//import util.Timer; +//import com.jopdesign.sys.Const; +//import com.jopdesign.sys.Native; +/* + * Multiple tones are output, the frequency is increased and decreased chronologically + * The rate of change can be set with Buttons 0 and 1 + */ + +public class sound1 { + + static boolean flag, up; + static final int MAX = 50; + static final int MIN = 10; + static int value, counter, counter1, SPEED; + + public static void init() { + up = true; + flag = false; + value = 10; + SPEED = 0x100; + } + + + public static void main(String[] agrgs) { + System.out.println("Initializing..."); + + + + init(); + + + while (true) { + while (DigitalInputs.getDigitalInput(2)) { + + if (Buttons.getButton(0)) { + while (Buttons.getButton(0) == true) ; + SPEED = SPEED + 0x50; + } + if (Buttons.getButton(1)) { + while (Buttons.getButton(1) == true) ; + if (SPEED > 0x50) { + SPEED = SPEED - 0x50; + } + } + + counter++; + + if ((counter % value) == 0) { + if (flag) { + flag = false; + } else { + flag = true; + } + } + + counter1++; + + if ((counter1 % SPEED) == 0) { + if (up) { + value++; + if (value >= MAX) { + up = false; + value--; + } + } else + { + value--; + if (value <= MIN) { + up = true; + value++; + } + } + + } + + if (flag) { + Speaker.write(true); + } else + Speaker.write(false); + + } + } + } + + + +} 1.3 jop/java/target/src/app/lego/sound2.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/sound2.java.diff?r1=1.2&r2=1.3 (In the diff below, changes in quantity of whitespace are not shown.) Index: sound2.java =================================================================== RCS file: sound2.java diff -N sound2.java --- /dev/null 1 Jan 1970 00:00:00 -0000 +++ sound2.java 5 Jun 2007 15:36:36 -0000 1.3 @@ -0,0 +1,74 @@ +package lego; + +import joprt.RtThread; +import lego.lib.*; + +//import util.Timer; +//import com.jopdesign.sys.Const; +//import com.jopdesign.sys.Native; + +/* + * A single tone is output, the frequency can be chanced with buttons 0 and 1 + */ + +public class sound2 { + + static boolean flag; + + static int value, counter; + + public static void init() { + flag = false; + value = 1; + } + + + public static void main(String[] agrgs) { + System.out.println("Initializing..."); + + + + init(); + + + new RtThread(10, 10 * 1000) { + public void run() { + while (true) { + while (DigitalInputs.getDigitalInput(2)) { + + + if (Buttons.getButton(0)) { + while (Buttons.getButton(0) == true) ; + value++; + } + if (Buttons.getButton(1)) { + while (Buttons.getButton(1) == true) ; + value--; + } + + + + if (flag) { + Speaker.write(true); + flag = false; + } else { + flag = true; + Speaker.write(false); + } + + RtThread.sleepMs(value); + + + } + } + } + }; + + + RtThread.startMission(); + + } + + + +} 1.1 jop/java/target/src/app/lego/sound4.java http://www.opencores.org/cvsweb.shtml/jop/java/target/src/app/lego/sound4.java?rev=1.1&content-type=text/x-cvsweb-markup Index: sound4.java =================================================================== package lego; import joprt.RtThread; import lego.lib.*; //import util.Timer; //import com.jopdesign.sys.Const; //import com.jopdesign.sys.Native; /* * A simple version of the tetris soundtrack is played. * Some notes use only an approximate frequency. * Better programming */ public class sound4 { static boolean flag, on, done; static int value, counter; // notes static final int E = 15; static final int F = 14; static final int H = 20; static final int G = 12; static final int C = 19; static final int D = 17; static final int A = 22; static final int A1 = 11; // flags static final int ON = 90; static final int OFF = 91; static final int DONE = 92; // pauses static final int PH = 400; // half static final int PQ = 200; // quarter static final int PT = 600; // three quarter static final int PB = 10; // very short pause static final int PL = 800; // long pause static final int TUNE_LENGTH = 39; // (38 notes+pauses) + 1 (done flag) static final int[] NOTES = {E, H, C, D, C, H, A, C, E, D, C, H, C, D, E, C, A, OFF, ON, ON, D, F, A1, G, F, E, C, E, D, C, H, C, D, E, C, A, OFF, ON, DONE}; static final int[] PAUSES = {PH ,PQ ,PQ ,PH ,PQ ,PQ ,PL ,PQ ,PH ,PQ ,PQ ,PT ,PQ ,PH ,PH ,PH ,PH ,PB ,PL ,PQ ,PH ,PQ ,PH ,PQ ,PQ ,PT ,PQ ,PH ,PQ ,PQ ,PT ,PQ ,PH ,PH ,PH ,PH ,PB ,PL}; public static void init() { on = true; flag = false; value = 10; done = false; } public static void tetris () { on = true; RtThread.sleepMs(4); on = false; RtThread.sleepMs(796); on = true; RtThread.sleepMs(4); on= false; RtThread.sleepMs(796); on = true; RtThread.sleepMs(4); on= false; RtThread.sleepMs(796); on = true; RtThread.sleepMs(4); on = false; RtThread.sleepMs(796); on = true; for (int i=0;i<TUNE_LENGTH-1;i++) { if (NOTES[i] == ON) { on = true; } else if (NOTES[i] == OFF) { on = false; } else if (NOTES[i] == DONE) { break; } else { value = NOTES[i]; } RtThread.sleepMs(PAUSES[i]); } } public static void loop() { if (on) { counter++; if ((counter % value) == 0) { if (flag) { flag = false; } else { flag = true; } } if (flag) { Speaker.write(true); } else Speaker.write(false); } } public static void main(String[] agrgs) { System.out.println("Initializing..."); init(); new RtThread(10, 100) { public void run() { for (;;) { loop(); waitForNextPeriod(); } } }; RtThread.startMission(); while(true) { on = true; tetris(); while (Buttons.getButtons() == 0); while (Buttons.getButtons() != 0); } } }

     
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