{"id":19491532,"url":"https://github.com/ev3dev-lang-java/lejos-navigation","last_synced_at":"2025-02-25T19:45:28.951Z","repository":{"id":142583995,"uuid":"87865029","full_name":"ev3dev-lang-java/lejos-navigation","owner":"ev3dev-lang-java","description":"LeJOS local navigation 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lejos-navigation\n\nThis library represent the local navigation stack from LeJOS project.\n\n## What packages include?\n\nThe packages included in this library are:\n\n- lejos.robotics.localization\n- lejos.robotics.mapping\n- lejos.robotics.navigation\n- lejos.robotics.objectdetection\n- lejos.robotics.pathfinding\n\n## Getting Started\n\nTo start a new project with this library, add the following repository and dependency.\n\n```xml\n\u003crepositories\u003e\n    \u003crepository\u003e\n        \u003cid\u003ejitpack.io\u003c/id\u003e\n        \u003curl\u003ehttps://jitpack.io\u003c/url\u003e\n    \u003c/repository\u003e\n\u003c/repositories\u003e\n```\n\n``` xml\n\u003cdependency\u003e\n    \u003cgroupId\u003ecom.github.ev3dev-lang-java\u003c/groupId\u003e\n    \u003cartifactId\u003elejos-navigation\u003c/artifactId\u003e\n    \u003cversion\u003ev0.1.0\u003c/version\u003e\n\u003c/dependency\u003e\n```\n\t\nFurther information about the Maven dependency: \nhttps://jitpack.io/#ev3dev-lang-java/lejos-navigation/v0.1.0\n\nNow if you use EV3Dev + EV3Dev-lang-java, it is possible to enjoy with this kind of examples:\n\n``` java \n\nimport ev3dev.utils.PilotProps;\nimport lejos.robotics.RegulatedMotor;\nimport lejos.robotics.navigation.DifferentialPilot;\n\nimport java.io.IOException;\n\npublic class PilotConfig {\n\n    private DifferentialPilot pilot;\n\n    public PilotConfig() throws IOException {\n\n        PilotProps pp = new PilotProps();\n        pp.loadPersistentValues();\n        float wheelDiameter = Float.parseFloat(pp.getProperty(PilotProps.KEY_WHEELDIAMETER));\n        float trackWidth = Float.parseFloat(pp.getProperty(PilotProps.KEY_TRACKWIDTH));\n        RegulatedMotor leftMotor = PilotProps.getMotor(pp.getProperty(PilotProps.KEY_LEFTMOTOR));\n        RegulatedMotor rightMotor = PilotProps.getMotor(pp.getProperty(PilotProps.KEY_RIGHTMOTOR));\n        boolean reverse = Boolean.parseBoolean(pp.getProperty(PilotProps.KEY_REVERSE));\n\n        //Special Stop modes from EV3Dev\n        leftMotor.brake();\n        rightMotor.brake();\n\n        System.out.println(\"Any button to start\");\n\n        pilot = new DifferentialPilot(wheelDiameter, trackWidth, leftMotor, rightMotor, reverse);\n        //pilot.setAngularAcceleration();\n        pilot.setAngularSpeed(100);\n        //pilot.setLinearAcceleration();\n        pilot.setLinearSpeed(100);\n        int accel = 60;\n        //pilot.setAcceleration(accel);\n    }\n\n    public DifferentialPilot getPilot(){\n        return pilot;\n    }\n}\n```\n\n``` java\n\nimport ev3dev.sensors.Button;\nimport ev3dev.sensors.ev3.EV3UltrasonicSensor;\nimport lejos.hardware.port.SensorPort;\nimport lejos.robotics.RangeFinderAdapter;\nimport lejos.robotics.navigation.DifferentialPilot;\nimport lejos.robotics.objectdetection.Feature;\nimport lejos.robotics.objectdetection.FeatureDetector;\nimport lejos.robotics.objectdetection.FeatureListener;\nimport lejos.robotics.objectdetection.RangeFeatureDetector;\n\nimport java.io.IOException;\n\npublic class FeatureAvoider2 {\n     \n    static final float MAX_DISTANCE = 50f;\n    static final int DETECTOR_DELAY = 1000;\n \n    public static void main(String[] args) throws IOException {\n\n        final PilotConfig pilotConf = new PilotConfig();\n        final DifferentialPilot pilot = pilotConf.getPilot();\n\n        final EV3UltrasonicSensor ir = new EV3UltrasonicSensor(SensorPort.S1);\n        final RangeFeatureDetector detector = new RangeFeatureDetector(\n                new RangeFinderAdapter(ir.getDistanceMode()), MAX_DISTANCE, DETECTOR_DELAY);\n\n        detector.enableDetection(true);\n        pilot.forward();\n         \n        detector.addListener(new FeatureListener() {\n            public void featureDetected(Feature feature, FeatureDetector detector) {\n                detector.enableDetection(false);\n                pilot.travel(-30);\n                pilot.rotate(30);\n                detector.enableDetection(true);\n                pilot.forward();\n            }       \n        });\n\n        Button.waitForAnyPress();\n    }\n}\n```\n\n## UML Diagram\n\n![](https://github.com/ev3dev-lang-java/lejos-navigation/raw/develop/docs/uml/graph.png)\n\n## Open issues\n\n- Chassis package is not included (Speak with Aswin \u0026 Andy)\n- DifferentialPilot: (I have doubts with methods with arcs)\n- Fusor detector (Possible concurrency problems)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fev3dev-lang-java%2Flejos-navigation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fev3dev-lang-java%2Flejos-navigation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fev3dev-lang-java%2Flejos-navigation/lists"}