I tried to paint the ground by using my Lego, so i wrote a code for moving (straight 2m and turn left) for times. Here is my code.
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import lejos.nxt.Motor;
import lejos.robotics.RegulatedMotor;
import lejos.robotics.navigation.DifferentialPilot;
import lejos.robotics.navigation.MoveController;
import lejos.util.PilotProps;
public class SquareMove{
static PilotProps pp = new PilotProps();
static float wheelDiameter = Float.parseFloat(pp.getProperty(PilotProps.KEY_WHEELDIAMETER, "4.32"));
static float trackWidth = Float.parseFloat(pp.getProperty(PilotProps.KEY_TRACKWIDTH, "16.35"));
static RegulatedMotor leftMotor = PilotProps.getMotor(pp.getProperty(PilotProps.KEY_LEFTMOTOR, "A"));
static RegulatedMotor rightMotor = PilotProps.getMotor(pp.getProperty(PilotProps.KEY_RIGHTMOTOR, "b"));
static boolean reverse = Boolean.parseBoolean(pp.getProperty(PilotProps.KEY_REVERSE,"false"));
public static void main(String[] args){
setSpeed(500);
for(int i=0;i<4;i++){
travelForward(2);
rotateLeft(90);
}
}
private static void rotateLeft(int angle) {
// TODO Auto-generated method stub
DifferentialPilot dp = new DifferentialPilot(wheelDiameter, trackWidth, leftMotor, rightMotor, reverse);
dp.rotate(90);
}
private static void travelForward(int distance) {
// TODO Auto-generated method stub
((MoveController) Motor.A).travel(distance);
((MoveController) Motor.B).travel(distance);
}
private static void setSpeed(int speed) {
// TODO Auto-generated method stub
Motor.A.setSpeed(speed);
Motor.B.setSpeed(speed);
}
}
But when I run it I got
Exception 26
at: 97(3)
at: 95(13)
I do not have any idea to debug this code.
Please help me.
Thanks.