import lejos.nxt.*;
import lejos.nxt.addon.*;
import java.awt.Rectangle;
/**
* For testing the Mindsensors NXTCam.
* @author Lawrie Griffiths
*/
public class NXTCamTest {
final static int INTERVAL = 1000; // milliseconds
public static void main(String [] args) throws Exception {
NXTCam camera = new NXTCam(SensorPort.S1);
String objects = "Objects: ";
int numObjects;
camera.sendCommand('A'); // sort objects by size
camera.sendCommand('E'); // start tracking
while(!Button.ESCAPE.isPressed()) {
LCD.clear();
LCD.drawString(camera.getProductID(), 0, 0);
LCD.drawString(camera.getSensorType(), 0, 1);
LCD.drawString(camera.getVersion(), 9, 1);
LCD.drawString(objects, 0, 2);
LCD.drawInt(numObjects = camera.getNumberOfObjects(),1,9,2);
if (numObjects >= 1 && numObjects <= 8) {
for (int i=0;i<numObjects;i++) {
Rectangle r = camera.getRectangle(i);
if (r.height > 30 && r.width > 30) {
LCD.drawInt(camera.getObjectColor(i), 3, 0, 3+i);
LCD.drawInt(r.width, 3, 4, 3+i);
LCD.drawInt(r.height, 3, 8, 3+i);
}
}
}
LCD.refresh();
Thread.sleep(INTERVAL);
}
}
}