NXT端的程序下载源代码.docVIP

NXT端的程序下载(源代码) import java.io.IOException; import lejos.nxt.*; import m.*; import java.io.*; import javax.bluetooth.*; // Author: 动力老男孩 // Site: // Location: Beijing // Update history: // 2010/01/15 - Motor actions to rotate cube // 2010/01/16 - Fix position for cube base and color sensor motor // 2010/01/24 - Add codes to scan 6 sides of cube // 2010/02/02 - Add bluetooth connect to PC // 2010/04/01 - Add Error control and playing sound // 2010/05/01 - Rewrite some codes to make it more beautiful public class RubikSolverV2 { //Define Sensors static UltrasonicSensor distance=new UltrasonicSensor(SensorPort.S1); static LightSensor light = new LightSensor(SensorPort.S2); static ColorSensor color = new ColorSensor(SensorPort.S3); //Define Motors static Motor paw = Motor.A; static Motor bottom = Motor.C; static Motor monitor = Motor.B; //if the paw has the 3:1 reducer, set it as true static boolean HasReducer = true; //the motor angle for paw to hold the cube static int PawHoldPosition = 56; //the motor angle for paw to rotate the cube static int PawTurnOverPosition = 110; //the motor angle for base to rotate 90 degree static int BaseOneQuarter = 315; //the fix angle for base static int BaseRotateFix = 40; //the fix angle of base position fix static int FixBasePositionOffset = 16; //the init position of color sensor motor(this will be set automatically) static int ColorMotorBaseAngle = 0; //add offset positions for color sensor motor static int ColorMotorOffset1 = 33; static int ColorMotorOffset2 = 9; static int ColorMotorOffset3 = 18; static int ColorReadPostion1 = 162; static int ColorReadPostion2 = 154; //A flag to check if the cube is on the base static boolean hasError = false; public static void main (String[] arg) throws Exception { light.setFloodlight(false); bottom.setSpeed(1000); BlueTooth.Connect(); boolean hasCube = true; //flag used to g