Exception:28
at: 50:35
at: 48:25
this is what shows up on the nxt. i'm new to programming, please help? this is the code i use on PC:
- Code: Select all
/*
* September 21, 2009
* Author Tawat Atigarbodee
*
* This program creates a Control Window for controlling NXT brick running NXTtr.java via USB.
*
* To compile this program.
* - Install Lejos 0.8.5
* - Include Lejos_nxj library to the project path
* - Compile the program with javac (I use Eclipse)
*
* To use this program
* - At NXT brick, run NXTtr.java
* - Run NXTremoteControl_TA
* - **Click “Connect” button first**
* - Control the robot by using buttons or keyboard
* a, w, s, d for direction
* i for speed up and k for slow down
*
* Note: This program is a partial of my project file.
* I use “USBSend” and “USBReceive” created by Lawrie Griffiths
* as a pattern for creating USB communication between PC and NXT.
*
*/
import javax.swing.*;
import java.awt.*;
import java.awt.event.*;
import java.io.*;
import lejos.pc.comm.NXTConnector;
public class NXTremotrControl_TA extends JFrame
{
public static JButton quit, connect;
public static JButton forward,reverse, leftTurn, rightTurn, stop, speedUp, slowDown;
public static JButton grab, release;
public static JLabel L1,L2,L3,L4,L5,L6,L7,L8,L9,L10,L11,L12;
public static ButtonHandler bh = new ButtonHandler();
public static DataOutputStream outData;
public static NXTConnector link;
public NXTremotrControl_TA()
{
setTitle ("Control");
setBounds(650,350,500,500);
setLayout(new GridLayout(5,5));
L1 = new JLabel("");
add(L1);
forward = new JButton("Forward");
forward.addActionListener(bh);
forward.addMouseListener(bh);
forward.addKeyListener(bh);
add(forward);
L2 = new JLabel("");
add(L2);
L3 = new JLabel("");
add(L3);
speedUp = new JButton("Accelerate");
speedUp.addActionListener(bh);
speedUp.addMouseListener(bh);
speedUp.addKeyListener(bh);
add(speedUp);
leftTurn = new JButton("Left");
leftTurn.addActionListener(bh);
leftTurn.addMouseListener(bh);
leftTurn.addKeyListener(bh);
add(leftTurn);
stop = new JButton("Stop");
stop.addActionListener(bh);
stop.addMouseListener(bh);
stop.addKeyListener(bh);
add(stop);
rightTurn = new JButton("Right");
rightTurn.addActionListener(bh);
rightTurn.addMouseListener(bh);
rightTurn.addKeyListener(bh);
add(rightTurn);
L4 = new JLabel("");
add(L4);
slowDown = new JButton("Decelerate");
slowDown.addActionListener(bh);
slowDown.addMouseListener(bh);
slowDown.addKeyListener(bh);
add(slowDown);
L5 = new JLabel("");
add(L5);
reverse = new JButton("Reverse");
reverse.addActionListener(bh);
reverse.addMouseListener(bh);
reverse.addKeyListener(bh);
add(reverse);
L6 = new JLabel("");
add(L6);
L7 = new JLabel("");
add(L7);
L8 = new JLabel("");
add(L8);
connect = new JButton(" Connect ");
connect.addActionListener(bh);
connect.addKeyListener(bh);
add(connect);
L9 = new JLabel("");
add(L9);
L10 = new JLabel("");
add(L10);
L11 = new JLabel("");
add(L11);
grab = new JButton("Grab");
grab.addActionListener(bh);
grab.addMouseListener(bh);
grab.addKeyListener(bh);
add(grab);
L12 = new JLabel("");
add(L12);
release = new JButton("Release");
release.addActionListener(bh);
release.addMouseListener(bh);
release.addKeyListener(bh);
add(release);
quit = new JButton("Quit");
quit.addActionListener(bh);
add(quit);
}
public static void main(String[] args)
{
NXTremotrControl_TA NXTrc = new NXTremotrControl_TA();
NXTrc.setVisible(true);
NXTrc.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
}//End main
private static class ButtonHandler implements ActionListener, MouseListener, KeyListener
{
//***********************************************************************
//Buttons action
public void actionPerformed(ActionEvent ae)
{
if(ae.getSource() == quit) {System.exit(0);}
if(ae.getSource() == connect) {connect();}
try{
if(ae.getSource() == speedUp) {outData.writeInt(6);}
if(ae.getSource() == slowDown) {outData.writeInt(7);}
outData.flush(); //This forces any buffered output bytes to be written out to the stream.
}
catch (IOException ioe) {
System.out.println("\nIO Exception writeInt");
}
}//End ActionEvent(for buttons)
//***********************************************************************
//Mouse actions
public void mouseClicked(MouseEvent arg0) {}
public void mouseEntered(MouseEvent arg0) {}
public void mouseExited(MouseEvent arg0) {}
public void mousePressed(MouseEvent moe)
{
try {
if(moe.getSource() == forward)outData.writeInt(1);
if(moe.getSource() == reverse)outData.writeInt(2);
if(moe.getSource() == leftTurn)outData.writeInt(3);
if(moe.getSource() == rightTurn)outData.writeInt(4);
if(moe.getSource() == speedUp)outData.writeInt(6);
if(moe.getSource() == slowDown)outData.writeInt(7);
if(moe.getSource() == grab)outData.writeInt(8);
if(moe.getSource() == release)outData.writeInt(9);
outData.flush();
}
catch (IOException ioe) {
System.out.println("\nIO Exception writeInt");
}
}//End mousePressed
public void mouseReleased(MouseEvent moe)
{
try {
if(moe.getSource() == forward ||
moe.getSource() == reverse ||
moe.getSource() == leftTurn ||
moe.getSource() == rightTurn)
{outData.writeInt(5);}
if(moe.getSource() == slowDown)outData.writeInt(60);
if(moe.getSource() == speedUp)outData.writeInt(70);
if(moe.getSource() == grab)outData.writeInt(80);
if(moe.getSource() == release)outData.writeInt(90);
outData.flush();
}
catch (IOException ioe) {
System.out.println("\nIO Exception writeInt");
}
}//End mouseReleased
//***********************************************************************
//Keyboard action
public void keyPressed(KeyEvent ke) {}//End keyPressed
public void keyTyped(KeyEvent ke)
{
try {
if(ke.getKeyChar() == 'w')outData.writeInt(1);
if(ke.getKeyChar() == 's')outData.writeInt(2);
if(ke.getKeyChar() == 'a')outData.writeInt(3);
if(ke.getKeyChar() == 'd')outData.writeInt(4);
if(ke.getKeyChar() == 'i')outData.writeInt(6);
if(ke.getKeyChar() == 'k')outData.writeInt(7);
if(ke.getKeyChar() == 'g')outData.writeInt(8);
if(ke.getKeyChar() == 'h')outData.writeInt(9);
outData.flush();
}
catch (IOException ioe) {
System.out.println("\nIO Exception writeInt");
}
}//End keyTyped
public void keyReleased(KeyEvent ke)
{
try {
if(ke.getKeyChar() == 'w'){outData.writeInt(10);}
if(ke.getKeyChar() == 's'){outData.writeInt(20);}
if(ke.getKeyChar() == 'a'){outData.writeInt(30);}
if(ke.getKeyChar() == 'd'){outData.writeInt(40);}
if(ke.getKeyChar() == 'i'){outData.writeInt(60);}
if(ke.getKeyChar() == 'k'){outData.writeInt(70);}
if(ke.getKeyChar() == 'g'){outData.writeInt(80);}
if(ke.getKeyChar() == 'h'){outData.writeInt(90);}
if(ke.getKeyChar() == 'q'){System.exit(0);}
outData.flush();
}
catch (IOException ioe) {
System.out.println("\nIO Exception writeInt");
}
}//End keyReleased
}//End ButtonHandler
public static void connect()
{
link = new NXTConnector();
if (!link.connectTo("btspp://"))
{
System.out.println("\nNo NXT find using USB");
}
outData = new DataOutputStream(link.getOutputStream());;
System.out.println("\nNXT is Connected");
}//End connect
public static void disconnect()
{
try{
outData.close();
link.close();
}
catch (IOException ioe) {
System.out.println("\nIO Exception writing bytes");
}
System.out.println("\nClosed data streams");
}//End disconnect
}//End ControlWindow class
this is what i uploaded to the NXT:
- Code: Select all
/*
*
* NXT setup
* - Port A for right wheel
* - Port C for left wheel
* - Porb B for gripper
* - No sensor is needed
*
*/
import java.io.*;
import lejos.nxt.*;
import lejos.nxt.comm.*;
public class NXTtr
{
public static DataOutputStream dataOut;
public static DataInputStream dataIn;
public static USBConnection USBLink;
public static BTConnection BTLink;
public static BTConnection btLink;
public static int speed =50, turnSpeed = 50,speedBuffer, speedControl;
public static int commandValue,transmitReceived;
public static boolean[] control = new boolean[6];
public static boolean[] command = new boolean[6];
public static void main(String [] args)
{
connect();
while(true)
{
control = checkCommand();
speedControl = getSpeed(control);
move(control, speedControl);
}
}//End main
public static boolean[] checkCommand()//check input data
{
try {
transmitReceived = dataIn.readInt();
if(transmitReceived == 1) {command[0] = true;}//forward
if(transmitReceived == 10){command[0] = false;}
if(transmitReceived == 2) {command[1] = true;}//backward
if(transmitReceived == 20){command[1] = false;}
if(transmitReceived == 3) {command[2] = true;}//leftTurn
if(transmitReceived == 30){command[2] = false;}
if(transmitReceived == 4) {command[3] = true;}//rightTurn
if(transmitReceived == 40){command[3] = false;}
if(transmitReceived == 5) {command[0] = false;//stop
command[1] = false;
command[2] = false;
command[3] = false;}
if(transmitReceived == 6) {command[4] = true;}//speed up
if(transmitReceived == 60){command[4] = false;}
if(transmitReceived == 7) {command[5] = true;}//slow down
if(transmitReceived == 70){command[5] = false;}
if(transmitReceived == 8) {command[6] = true;}//grab
if(transmitReceived == 80){command[6] = false;}
if(transmitReceived == 9) {command[7] = true;}//release
if(transmitReceived == 90){command[7] = false;}
else{};
}
catch (IOException ioe) {
System.out.println("IO Exception readInt");
}
return command;
}//End checkCommand
public static void move(boolean[]D, int S)
{
int movingSpeed;
boolean[] direction = new boolean[6];
direction[0] = D[0];
direction[1] = D[1];
direction[2] = D[2];
direction[3] = D[3];
direction[6] = D[6];
direction[7] = D[7];
movingSpeed = S;
Motor.A.setSpeed(movingSpeed);
Motor.C.setSpeed(movingSpeed);
Motor.B.setSpeed(movingSpeed);
if(direction[0] == true)
{
Motor.A.forward();
Motor.C.forward();
}
if(direction[1] == true)
{
Motor.A.backward();
Motor.C.backward();
}
if(direction[2] == true)
{
Motor.A.setSpeed(turnSpeed);
Motor.C.setSpeed(turnSpeed);
Motor.A.forward();
Motor.C.backward();
}
if(direction[3] == true)
{
Motor.A.setSpeed(turnSpeed);
Motor.C.setSpeed(turnSpeed);
Motor.A.backward();
Motor.C.forward();
}
if(direction[0] == true && direction[2] == true)
{
speedBuffer = (int) (movingSpeed *1.5);
Motor.A.setSpeed(speedBuffer);
Motor.C.forward();
Motor.A.forward();
}
if(direction[0] == true && direction[3] == true)
{
speedBuffer = (int) (movingSpeed *1.5);
Motor.C.setSpeed(speedBuffer);
Motor.C.forward();
Motor.A.forward();
}
if(direction[1] == true && direction[2] == true)
{
speedBuffer = (int) (movingSpeed *1.5);
Motor.A.setSpeed(speedBuffer);
Motor.C.backward();
Motor.A.backward();
}
if(direction[1] == true && direction[3] == true)
{
speedBuffer = (int) (movingSpeed *1.5);
Motor.C.setSpeed(speedBuffer);
Motor.C.backward();
Motor.A.backward();
}
if(direction[0] == false && direction[1] == false &&
direction[2] == false && direction[3] == false)
{
Motor.A.stop();
Motor.C.stop();
}
if(direction[6] == true)
{
Motor.B.setSpeed(speedBuffer);
Motor.B.forward();
}
if(direction[7] == true)
{
Motor.B.setSpeed(speedBuffer);
Motor.B.backward();
}
}//End move
public static void connect()
{
System.out.println("Listening");
BTLink = Bluetooth.waitForConnection();
dataOut = BTLink.openDataOutputStream();
dataIn = BTLink.openDataInputStream();
}//End connect
public static int getSpeed(boolean[] D)
{
boolean accelerate, decelerate;
accelerate = D[4];
decelerate = D[5];
if(accelerate == true)
{
speed += 50;
command[4] = false;
}
if(decelerate == true)
{
speed -= 50;
command[5] = false;
}
return speed;
}//End getSpeed
}//NXTtr Class
thank you for any help.
