Devices supported

1. 2D LIDAR

packageexamples;importev3dev.sensors.slamtec.RPLidarA1;importev3dev.sensors.slamtec.RPLidarProviderListener;importev3dev.sensors.slamtec.model.Scan;importlombok.extern.slf4j.Slf4j;importjava.util.concurrent.atomic.AtomicInteger;public@Slf4jclassDemo3 {privatestaticAtomicIntegercounter;publicstaticvoidmain(String[]args)throwsException {log.info("Testing RPLidar on a EV3Dev with Java");finalStringUSBPort ="/dev/ttyUSB0";finalRPLidarA1lidar =newRPLidarA1(USBPort);lidar.init();lidar.addListener(newRPLidarProviderListener() {@OverridepublicvoidscanFinished(Scanscan) {//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(intx =0;x <=10;x++) {lidar.scan();        }lidar.close();log.info("End");System.exit(0);    }}

2. Arduino

Arduino 9 axes motion shield (BNO055)

packageexamples;importev3dev.actuators.Sound;importev3dev.arduino.sensors.bn055.BNO055;importev3dev.arduino.sensors.bn055.BNO055Listener;importev3dev.arduino.sensors.bn055.model.BNO055Response;importev3dev.arduino.sensors.bn055.model.Euler;importev3dev.arduino.sensors.bn055.model.Euler;importev3dev.sensors.Battery;importev3dev.sensors.Button;importlombok.extern.slf4j.Slf4j;public@Slf4jclassBNO055TurnTest {publicstaticvoidmain(String[]args)throwsException {finalStringport ="/dev/ttyACM0";finalBNO055bno055 =newBNO055(port);bno055.init();log.debug("{}",Battery.getInstance().getVoltage());bno055.addListener(newBNO055Listener() {@OverridepublicvoiddataReceived(finalBNO055Responseresponse) {if(response.getEuler() !=null){finalEulereuler =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");}}

3. GPS

packageexamples;importev3dev.sensors.gps.GenericGPS;importlombok.extern.slf4j.Slf4j;@Slf4jpublicclassGenericGPSTest {publicstaticvoidmain(String[]args)throwsException {finalStringport ="/dev/ttyACM0";finalGenericGPSgps =newGenericGPS(port);gps.init();//This method block main thread 10 secondstimeCounter(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());}privatestaticvoidtimeCounter(finalintseconds)throwsInterruptedException {log.info("Start reading");for(intx =0;x <=seconds;x++){log.info("Iteration: {}\n\n",x);Thread.sleep(1000);}}}