nxtOSEK/lejos_nxj/samples/NXTCamTest/NXTCamTest.java

   1 import lejos.nxt.*;\r
   2 \r
   3 import java.awt.Rectangle;\r
   4 \r
   5 /**\r
   6  * For testing the Mindsensors NXTCam.\r
   7  * @author Lawrie Griffiths\r
   8  */\r
   9 public class NXTCamTest {\r
  10 \r
  11         final static int INTERVAL = 1000; // milliseconds\r
  12         \r
  13         public static void main(String [] args) throws Exception {\r
  14                 NXTCam camera = new NXTCam(SensorPort.S1);\r
  15                 String objects = "Objects: ";\r
  16                 int numObjects;\r
  17                 \r
  18                 camera.sendCommand('A'); // sort objects by size\r
  19                 camera.sendCommand('E'); // start tracking\r
  20         \r
  21                 while(!Button.ESCAPE.isPressed()) {\r
  22                         LCD.clear();\r
  23                         LCD.drawString(camera.getProductID(), 0, 0);\r
  24                         LCD.drawString(camera.getSensorType(), 0, 1);\r
  25                         LCD.drawString(camera.getVersion(), 9, 1);\r
  26                         LCD.drawString(objects, 0, 2);\r
  27                         LCD.drawInt(numObjects = camera.getNumberOfObjects(),1,9,2);\r
  28                         \r
  29                         if (numObjects >= 1 && numObjects <= 8) {\r
  30                                 for (int i=0;i<numObjects;i++) {\r
  31                                         Rectangle r = camera.getRectangle(i);\r
  32                                         if (r.height > 30 && r.width > 30) {\r
  33                                                 LCD.drawInt(camera.getObjectColor(i), 3, 0, 3+i);\r
  34                                                 LCD.drawInt(r.width, 3, 4, 3+i);\r
  35                                                 LCD.drawInt(r.height, 3, 8, 3+i);\r
  36                                         }\r
  37                                         \r
  38                                 }\r
  39                         }\r
  40 \r
  41                         LCD.refresh();\r
  42                         Thread.sleep(INTERVAL);\r
  43                 }\r
  44         }\r
  45 }