A Java library to manage USB devices like LIDARs, Arduino boards, IMUs, GPS, etc...
The library supports SLAMTEC A1 & A2 models
Example using a RPLIDAR A2
package examples;
import ev3dev.sensors.slamtec.RPLidarA1;
import ev3dev.sensors.slamtec.RPLidarProviderListener;
import ev3dev.sensors.slamtec.model.Scan;
import lombok.extern.slf4j.Slf4j;
import java.util.concurrent.atomic.AtomicInteger;
public @Slf4j class Demo3 {
private static AtomicInteger counter;
public static void main(String[] args) throws Exception {
log.info("Testing RPLidar on a EV3Dev with Java");
final String USBPort = "/dev/ttyUSB0";
final RPLidarA1 lidar = new RPLidarA1(USBPort);
lidar.init();
lidar.addListener(new RPLidarProviderListener() {
@Override
public void scanFinished(Scan scan) {
//log.info("Iteration: {}, Measures: {}", counter.incrementAndGet(), scan.getDistances().size());
log.info("Measures: {}", scan.getDistances().size());
scan.getDistances()
.stream()
.filter((measure) -> measure.getQuality() > 10)
.filter((measure) -> (measure.getAngle() >= 345 || measure.getAngle() <= 15))
.filter((measure) -> measure.getDistance() <= 50)
.forEach(System.out::println);
}
});
for(int x = 0; x <= 10; x++) {
lidar.scan();
}
lidar.close();
log.info("End");
System.exit(0);
}
}http://www.arduino.org/products/shields/arduino-9-axes-motion-shield
Example using the Arduino + Shield:
package examples;
import ev3dev.actuators.Sound;
import ev3dev.arduino.sensors.bn055.BNO055;
import ev3dev.arduino.sensors.bn055.BNO055Listener;
import ev3dev.arduino.sensors.bn055.model.BNO055Response;
import ev3dev.arduino.sensors.bn055.model.Euler;
import ev3dev.arduino.sensors.bn055.model.Euler;
import ev3dev.sensors.Battery;
import ev3dev.sensors.Button;
import lombok.extern.slf4j.Slf4j;
public @Slf4j class BNO055TurnTest {
public static void main(String[] args) throws Exception {
final String port = "/dev/ttyACM0";
final BNO055 bno055 = new BNO055(port);
bno055.init();
log.debug("{}", Battery.getInstance().getVoltage());
bno055.addListener(new BNO055Listener() {
@Override
public void dataReceived(final BNO055Response response) {
if(response.getEuler() != null){
final Euler euler = response.getEuler();
log.debug("Heading: {}", euler.getHeading());
if( (euler.getHeading() > 90.0f) &&
(euler.getHeading() <= 100.00f)) {
//Sound.getInstance().beep();
log.info("REACHED");
}
}
}
});
Button.waitForAnyPress();
log.debug("{}", Battery.getInstance().getVoltage());
bno055.close();
log.info("Closing connection with Arduino");
}
}Video:
https://www.youtube.com/watch?v=OY2B7B0Qi2Y
Example connecting with a USB GPS
package examples;
import ev3dev.sensors.gps.GenericGPS;
import lombok.extern.slf4j.Slf4j;
@Slf4j
public class GenericGPSTest {
public static void main(String[] args) throws Exception {
final String port = "/dev/ttyACM0";
final GenericGPS gps = new GenericGPS(port);
gps.init();
//This method block main thread 10 seconds
timeCounter(10);
gps.close();
log.info("Closing connection with the USB GPS Device");
log.info("LAT: {} {}, LAT: {} {}, ALT: {}", gps.getLatitude(), gps.getLatitudeDirection(), gps.getLongitude(), gps.getLongitudeDirection(), gps.getAltitude());
log.info("DATE: {}, TIMESTAMP: {}", gps.getDate(), gps.getTimeStamp());
log.info("NSTAT: {}", gps.getSatellitesTracked());
}
private static void timeCounter(final int seconds) throws InterruptedException {
log.info("Start reading");
for(int x = 0; x <= seconds; x++){
log.info("Iteration: {} \n\n", x);
Thread.sleep(1000);
}
}
}