/* * MultiForageTestSensors.java */package EDU.gatech.cc.is.abstractrobot;import EDU.gatech.cc.is.abstractrobot.MultiForageN150;import EDU.gatech.cc.is.util.Vec2;/** * Test Nomad 150 sensor hardware and the MultiForageN150Hard class. * <P> * To run this program, first ensure you are in the correct directory (where * the MultiForageTestSensors.class file is), then type "java  * MultiForageTestSensors". * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1998 Tucker Balch * * @see EDU.gatech.cc.is.nomad150.Ndirect * @see MultiForageN150 * @see MultiForageN150Hard * @author Tucker Balch * @version $Revision: 1.1 $ */public class MultiForageTestSensors	{        /**	 * This method is for testing Nomad 150 sensor	 * hardware and the MultiForageN150Hard class.         */	public static void main(String[] args)		{		Vec2	sensed_obstacles[];		/*--- open the connection to the robot hardware ---*/		MultiForageN150Hard abstract_robot;		try			{			abstract_robot = new MultiForageN150Hard(1,38400);			/*--- get the time we started ---*/			long start_time = abstract_robot.getTime();			long curr_time = start_time;			double cycles = 0;			abstract_robot.setBaseSpeed(abstract_robot.MAX_TRANSLATION);			abstract_robot.setSpeed(curr_time, 0);			sensed_obstacles = abstract_robot.getObstacles(0);				/*--- print obstacles for 10 seconds ---*/			while ((curr_time - start_time)<10000)				{				sensed_obstacles = abstract_robot.getObstacles(					curr_time);				System.out.println("---------");				for(int i=0; i< sensed_obstacles.length; i++)					{					System.out.println(sensed_obstacles[i]);					}				System.out.println("---------");				Thread.sleep(1000);				curr_time = abstract_robot.getTime();				}			/*--- during next 20 seconds check reverse ---*/			while ((curr_time - start_time)<30000)				{				sensed_obstacles = abstract_robot.getObstacles(					curr_time);				abstract_robot.setSteerHeading(curr_time, 					180.0);				abstract_robot.setTurretHeading(curr_time, 					180.0);				System.out.println("---------");				for(int i=0; i< sensed_obstacles.length; i++)					{					System.out.println(sensed_obstacles[i]);					}				System.out.println("---------");				Thread.sleep(1000);				curr_time = abstract_robot.getTime();				}			/*--- during final 10 seconds check speed ---*/			start_time = abstract_robot.getTime();			while ((curr_time - start_time)<10000)				{				abstract_robot.setSteerHeading(curr_time, 0);				abstract_robot.setTurretHeading(curr_time, 0);				curr_time = abstract_robot.getTime();				cycles++;				curr_time = abstract_robot.getTime();				}				abstract_robot.quit(); // only do this when done!			System.out.println("MultiForageTestSensors: "+				(cycles*1000/(double)curr_time)+ 				" control cycles per second.");			}		catch(Exception e)			{			System.out.println(e);			}		}	}