No commit message

TravelTest/src/org/penemunxt/projects/traveltest/nxt/CompassTest.java

@@ -0,0 +1,19 @@
+package org.penemunxt.projects.traveltest.nxt;
+
+import lejos.robotics.navigation.*;
+import lejos.nxt.Button;
+import lejos.nxt.LCD;
+import lejos.nxt.Motor;
+import lejos.nxt.SensorPort;
+import lejos.nxt.Sound;
+import lejos.nxt.addon.*;
+
+
+public class CompassTest {
+	public static void main(String[] args) {
+		CompassSensor CS = new CompassSensor(SensorPort.S2);
+		while(!Button.ESCAPE.isPressed()){
+			Sound.playTone((int) CS.getDegrees()*10, 10, 75);
+		}
+	}
+}

TravelTest/src/org/penemunxt/projects/traveltest/nxt/TravelTest.java

@@ -1,8 +1,47 @@
 package org.penemunxt.projects.traveltest.nxt;
 
+import lejos.robotics.navigation.*;
+import lejos.nxt.Button;
+import lejos.nxt.LCD;
+import lejos.nxt.Motor;
+import lejos.nxt.SensorPort;
+import lejos.nxt.addon.*;
+
 
 public class TravelTest {
 	public static void main(String[] args) {
+		CompassPilot compil = new CompassPilot
+		(new CompassSensor(SensorPort.S2), 49, 125, Motor.C, Motor.B);
+		TachoPilot tacho = new TachoPilot(49, 125, Motor.C, Motor.B);
+		SimpleNavigator simnav = new SimpleNavigator (tacho);
+//		compil.calibrate();
+		compil.resetCartesianZero();
+		simnav.setTurnSpeed(50);
+		simnav.forward();
+		try {
+			Thread.sleep(5000);
+		} catch (InterruptedException e) {
+
+		}
+		simnav.stop();
+		simnav.rotate(90);
+		simnav.forward();
+		try {
+			Thread.sleep(2000);
+		} catch (InterruptedException e) {
 
+		}
+		simnav.stop();
+//		simnav.arc(300, 360);
+//		simnav.setMoveSpeed(300);
+//		simnav.goTo(1000, 0);
+//		simnav.rotate(180);
+////		simnav.goTo(0, 0);
+////		simnav.updatePosition();
+//		simnav.travel(2000);
+		LCD.drawString(String.valueOf(simnav.getX()), 1, 2);
+		LCD.drawString(String.valueOf(simnav.getY()), 1, 3);
+		LCD.drawString(String.valueOf(simnav.getHeading()), 1, 4);
+		Button.ESCAPE.waitForPressAndRelease();
 	}
 }