Beispiel #1
0
        public void start()
        {
            ev3.connect();

            gyro        = ev3.getGyroSensor();
            left_motor  = ev3.getMotorA();
            right_motor = ev3.getMotorD();

            // Optional code to accept BasicMotor: this.right_motor = (NXTMotor)right;
//				this.gyro = gyro;
            this.ratioWheel = wheelDiameter / 5.6;                   // Original algorithm was tuned for 5.6 cm NXT 1.0 wheels.

            // Took out 50 ms delay here.

            // Get the initial gyro offset
            getGyroOffset();

            // Play warning beep sequence before balance starts
//				startBeeps();

            // Start balance thread
//				this.setDaemon(true);
//				this.start();


//			initialize ();
            //			balance();
            Thread t1 = new Thread(new ThreadStart(balance));

            t1.Start();
//			Thread t2 = new Thread (new ThreadStart (drive));
//			t2.Start ();

            t1.Join();
//			t2.Join ();

            ev3.disconnect();
        }