#眉標=Java
#副標=智慧型樂高機器人與Java程式開發（8）
#大標=設計NXT圖形使用者介面程式
#作者=文／圖 何致億
#引言=
==<box>===========
程式1：ChooseProgram.java
package basic;
01. import icommand.nxtcomm.*;
02. import icommand.platform.nxt.*;
03. import java.io.*;
04.
05. public class ChooseProgram {
06. public static void main(String[] args) throws Exception {
07. char choice;
08. NXTCommand.setVerify(true);
09. InputStreamReader ir = new InputStreamReader(System.in);
10.
11. System.out.println("\n========= 程式開始 ===========");
12. System.out.println("A: 執行 NXT 的 ShowImage.rxe 程式");
13. System.out.println("B: 播放 NXT 的 Hello.rso 聲音檔");
14. System.out.println("C: 讓 A 馬達旋轉 2 秒");
15. System.out.println("D: 結束本程式");
16. System.out.print("\n請選擇 A ~ D : ");
17. choice = (char)ir.read();
18. System.out.println("\n你選擇了: " + choice);
19.
20. switch (choice) {
21. case 'A':
22. NXTCommand.startProgram("ShowImage.rxe");
23. break;
24. case 'B':
25. NXTCommand.playSoundFile("Hello.rso", false);
26. break;
27. case 'C':
28. Motor.A.forward();
29. Thread.sleep(2000);
30. Motor.A.stop();
31. break;
32. case 'D':
33. break;
34. default:
35. break;
36. }
37.
38. System.out.println("\n========= 程式結束 ===========");
39. NXTCommand.close();
40. }
41. }
==<end>==============
==<box>===========
程式2：ChooseProgramGUI.java
42. package gui;
43. import java.awt.*;
44. import javax.swing.*;
45. import icommand.nxtcomm.NXTCommand;
46. import icommand.platform.nxt.*;
47.
48. public class ChooseProgramGUI extends JFrame {
49. private static final long serialVersionUID = 1L;
50. private JPanel jContentPane = null;
51. private JButton jBtn_ShowImage = null;
52. private JButton jBtn_PlaySoundFile = null;
53. private JButton jBtn_TurnOnMotor = null;
54. private JButton jBtn_Exit = null;
55.
56. private JButton getJBtn_ShowImage() {
57. if (jBtn_ShowImage == null) {
58. jBtn_ShowImage = new JButton();
59. jBtn_ShowImage
60. .setFont(new Font("Dialog", Font.PLAIN, 18));
61. jBtn_ShowImage.setLocation(new Point(51, 30));
62. jBtn_ShowImage.setSize(new Dimension(195, 45));
63. jBtn_ShowImage.setText("執行ShowImage.rxe");
64. jBtn_ShowImage
65. .addActionListener(new java.awt.event.ActionListener() {
66. public void actionPerformed(
67. java.awt.event.ActionEvent e) {
68. NXTCommand.startProgram("ShowImage.rxe");
69. }
70. });
71. }
72. return jBtn_ShowImage;
73. }
74.
75. private JButton getJBtn_PlaySoundFile() {
76. if (jBtn_PlaySoundFile == null) {
77. jBtn_PlaySoundFile = new JButton();
78. jBtn_PlaySoundFile.setFont(new Font("Dialog",
79. Font.PLAIN, 18));
80. jBtn_PlaySoundFile.setLocation(new Point(285, 30));
81. jBtn_PlaySoundFile.setSize(new Dimension(195, 45));
82. jBtn_PlaySoundFile.setText("播放Hello.rso");
83. jBtn_PlaySoundFile
84. .addActionListener(new java.awt.event.ActionListener() {
85. public void actionPerformed(
86. java.awt.event.ActionEvent e) {
87. NXTCommand.playSoundFile("Hello.rso", false);
88. }
89. });
90. }
91. return jBtn_PlaySoundFile;
92. }
93.
94. private JButton getJBtn_TurnOnMotor() {
95. if (jBtn_TurnOnMotor == null) {
96. jBtn_TurnOnMotor = new JButton();
97. jBtn_TurnOnMotor.setFont(new Font("Dialog", Font.PLAIN,
98. 18));
99. jBtn_TurnOnMotor.setLocation(new Point(51, 100));
100. jBtn_TurnOnMotor.setSize(new Dimension(195, 45));
101. jBtn_TurnOnMotor.setText("讓A馬達轉動2秒");
102. jBtn_TurnOnMotor
103. .addActionListener(new java.awt.event.ActionListener() {
104. public void actionPerformed(
105. java.awt.event.ActionEvent e) {
106. Motor.A.forward();
107. try {
108. Thread.sleep(2000);
109. } catch (InterruptedException ie) {
110. ie.printStackTrace();
111. }
112. Motor.A.stop();
113. }
114. });
115. }
116. return jBtn_TurnOnMotor;
117. }
118.
119. private JButton getJBtn_Exit() {
120. if (jBtn_Exit == null) {
121. jBtn_Exit = new JButton();
122. jBtn_Exit.setFont(new Font("Dialog", Font.PLAIN, 18));
123. jBtn_Exit.setLocation(new Point(285, 100));
124. jBtn_Exit.setSize(new Dimension(195, 45));
125. jBtn_Exit.setBackground(Color.lightGray);
126. jBtn_Exit.setText("結束本程式");
127. jBtn_Exit
128. .addActionListener(new java.awt.event.ActionListener() {
129. public void actionPerformed(
130. java.awt.event.ActionEvent e) {
131. NXTCommand.close();
132. System.exit(0);
133. }
134. });
135. }
136. return jBtn_Exit;
137. }
138.
139. public static void main(String[] args) {
140. SwingUtilities.invokeLater(new Runnable() {
141. public void run() {
142. ChooseProgramGUI thisClass = new ChooseProgramGUI();
143. thisClass
144. .setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
145. thisClass.setVisible(true);
146. }
147. });
148. }
149.
150. public ChooseProgramGUI() {
151. super();
152. initialize();
153. }
154.
155. private void initialize() {
156. this.setSize(541, 200);
157. this.setContentPane(getJContentPane());
158. this.setTitle("改寫第14章的ChooseProgram範例程式");
159. NXTCommand.setVerify(true);
160. }
161.
162. private JPanel getJContentPane() {
163. if (jContentPane == null) {
164. jContentPane = new JPanel();
165. jContentPane.setLayout(null);
166. jContentPane.add(getJBtn_ShowImage(), null);
167. jContentPane.add(getJBtn_PlaySoundFile(), null);
168. jContentPane.add(getJBtn_TurnOnMotor(), null);
169. jContentPane.add(getJBtn_Exit(), null);
170. }
171. return jContentPane;
172. }
173. }
==<end>==============
====<反灰>===========
private int speedA = 0;
private int speedB = 0;
private int speedC = 0;
==<end>==============
====<反灰>===========
import icommand.nxtcomm.NXTCommand;
import icommand.platform.nxt.*;
==<end>==============
=====<反灰>===========
speedA = jSldr_A.getValue();
speedB = jSldr_B.getValue();
speedC = jSldr_C.getValue();
jTF_A.setText(String.valueOf(speedA));
jTF_B.setText(String.valueOf(speedB));
jTF_C.setText(String.valueOf(speedC));
NXTCommand.setVerify(true);
==<end>==============
==<box>===========
程式3：ControlMotors.java
01. package gui;
02. import java.awt.*;
03. import javax.swing.*;
04. import java.awt.event.*;
05. import icommand.nxtcomm.NXTCommand;
06. import icommand.platform.nxt.*;
07.
08. public class ControlMotors extends JFrame {
09. private static final long serialVersionUID = 1L;
10. private JPanel jContentPane = null;
11. private JLabel jLabel_A = null;
12. private JLabel jLabel_B = null;
13. private JLabel jLabel_C = null;
14. private JSlider jSldr_A = null;
15. private JSlider jSldr_B = null;
16. private JSlider jSldr_C = null;
17. private JButton jBtn_A_F = null; //呼叫Motor.A.forward()
18. private JButton jBtn_A_B = null; //呼叫Motor.A.backward()
19. private JButton jBtn_A_S = null; //呼叫Motor.A.stop()
20. private JButton jBtn_B_F = null; //呼叫Motor.B.forward()
21. private JButton jBtn_B_B = null; //呼叫Motor.B.backward()
22. private JButton jBtn_B_S = null; //呼叫Motor.B.stop()
23. private JButton jBtn_C_F = null; //呼叫Motor.C.forward()
24. private JButton jBtn_C_B = null; //呼叫Motor.C.backward()
25. private JButton jBtn_C_S = null; //呼叫Motor.C.stop()
26. private JButton jBtn_Exit = null;
27. private JTextField jTF_A = null;
28. private JTextField jTF_B = null;
29. private JTextField jTF_C = null;
30. private int speedA = 0;
31. private int speedB = 0;
32. private int speedC = 0;
33.
34. private JSlider getJSldr_A() {
35. if (jSldr_A == null) {
36. jSldr_A = new JSlider();
37. jSldr_A.setLocation(new Point(170, 35));
38. jSldr_A.setSize(new Dimension(100, 30));
39. jSldr_A.addChangeListener(
40. new javax.swing.event.ChangeListener() {
41. public void stateChanged(
42. javax.swing.event.ChangeEvent e) {
43. speedA = jSldr_A.getValue();
44. jTF_A.setText(String.valueOf(speedA));
45. }
46. });
47. }
48. return jSldr_A;
49. }
50.
51. private JButton getJBtn_A_F() {
52. if (jBtn_A_F == null) {
53. jBtn_A_F = new JButton();
54. jBtn_A_F.setText("A馬達正轉");
55. jBtn_A_F.setSize(new Dimension(120, 35));
56. jBtn_A_F.setFont(new Font("Dialog", Font.PLAIN, 18));
57. jBtn_A_F.setLocation(new Point(294, 30));
58. jBtn_A_F.addActionListener(
59. new java.awt.event.ActionListener() {
60. public void actionPerformed(
61. java.awt.event.ActionEvent e) {
62. Motor.A.setSpeed(speedA);
63. Motor.A.forward();
64. }
65. });
66. }
67. return jBtn_A_F;
68. }
69.
70. private JButton getJBtn_A_B() {
71. if (jBtn_A_B == null) {
72. jBtn_A_B = new JButton();
73. jBtn_A_B.setText("A馬達反轉");
74. jBtn_A_B.setLocation(new Point(430, 30));
75. jBtn_A_B.setSize(new Dimension(120, 35));
76. jBtn_A_B.setFont(new Font("Dialog", Font.PLAIN, 18));
77. jBtn_A_B.setMnemonic(KeyEvent.VK_UNDEFINED);
78. jBtn_A_B.addActionListener(
79. new java.awt.event.ActionListener() {
80. public void actionPerformed(
81. java.awt.event.ActionEvent e) {
82. Motor.A.setSpeed(speedA);
83. Motor.A.backward();
84. }
85. });
86. }
87. return jBtn_A_B;
88. }
89.
90. private JButton getJBtn_A_S() {
91. if (jBtn_A_S == null) {
92. jBtn_A_S = new JButton();
93. jBtn_A_S.setLocation(new Point(568, 30));
94. jBtn_A_S.setText("A馬達停止");
95. jBtn_A_S.setFont(new Font("Dialog", Font.PLAIN, 18));
96. jBtn_A_S.setSize(new Dimension(120, 35));
97. jBtn_A_S.addActionListener(
98. new java.awt.event.ActionListener() {
99. public void actionPerformed(
100. java.awt.event.ActionEvent e) {
101. Motor.A.stop();
102. }
103. });
104. }
105. return jBtn_A_S;
106. }
107.
108. private JSlider getJSldr_B() {
109. if (jSldr_B == null) {
110. jSldr_B = new JSlider();
111. jSldr_B.setName("");
112. jSldr_B.setSize(new Dimension(100, 30));
113. jSldr_B.setLocation(new Point(170, 102));
114. jSldr_B.addChangeListener(
115. new javax.swing.event.ChangeListener() {
116. public void stateChanged(
117. javax.swing.event.ChangeEvent e) {
118. speedB = jSldr_B.getValue();
119. jTF_B.setText(String.valueOf(speedB));
120. }
121. });
122. }
123. return jSldr_B;
124. }
125.
126. private JButton getJBtn_B_F() {
127. if (jBtn_B_F == null) {
128. jBtn_B_F = new JButton();
129. jBtn_B_F.setText("B馬達正轉");
130. jBtn_B_F.setSize(new Dimension(120, 35));
131. jBtn_B_F.setFont(new Font("Dialog", Font.PLAIN, 18));
132. jBtn_B_F.setLocation(new Point(293, 101));
133. jBtn_B_F.addActionListener(
134. new java.awt.event.ActionListener() {
135. public void actionPerformed(
136. java.awt.event.ActionEvent e) {
137. Motor.B.setSpeed(speedB);
138. Motor.B.forward();
139. }
140. });
141. }
142. return jBtn_B_F;
143. }
144.
145. private JButton getJBtn_B_B() {
146. if (jBtn_B_B == null) {
147. jBtn_B_B = new JButton();
148. jBtn_B_B.setText("B馬達反轉");
149. jBtn_B_B.setSize(new Dimension(120, 35));
150. jBtn_B_B.setFont(new Font("Dialog", Font.PLAIN, 18));
151. jBtn_B_B.setLocation(new Point(431, 100));
152. jBtn_B_B.addActionListener(
153. new java.awt.event.ActionListener() {
154. public void actionPerformed(
155. java.awt.event.ActionEvent e) {
156. Motor.B.setSpeed(speedB);
157. Motor.B.backward();
158. }
159. });
160. }
161. return jBtn_B_B;
162. }
163.
164. private JButton getJBtn_B_S() {
165. if (jBtn_B_S == null) {
166. jBtn_B_S = new JButton();
167. jBtn_B_S.setFont(new Font("Dialog", Font.PLAIN, 18));
168. jBtn_B_S.setLocation(new Point(568, 100));
169. jBtn_B_S.setSize(new Dimension(120, 35));
170. jBtn_B_S.setText("B馬達停止");
171. jBtn_B_S.addActionListener(
172. new java.awt.event.ActionListener() {
173. public void actionPerformed(
174. java.awt.event.ActionEvent e) {
175. Motor.B.stop();
176. }
177. });
178. }
179. return jBtn_B_S;
180. }
181.
182. private JSlider getJSldr_C() {
183. if (jSldr_C == null) {
184. jSldr_C = new JSlider();
185. jSldr_C.setLocation(new Point(171, 167));
186. jSldr_C.setSize(new Dimension(100, 30));
187. jSldr_C.addChangeListener(
188. new javax.swing.event.ChangeListener() {
189. public void stateChanged(
190. javax.swing.event.ChangeEvent e) {
191. speedC = jSldr_C.getValue();
192. jTF_C.setText(String.valueOf(speedC));
193. }
194. });
195. }
196. return jSldr_C;
197. }
198.
199. private JButton getJBtn_C_F() {
200. if (jBtn_C_F == null) {
201. jBtn_C_F = new JButton();
202. jBtn_C_F.setText("C馬達正轉");
203. jBtn_C_F.setSize(new Dimension(120, 35));
204. jBtn_C_F.setFont(new Font("Dialog", Font.PLAIN, 18));
205. jBtn_C_F.setLocation(new Point(293, 165));
206. jBtn_C_F.addActionListener(
207. new java.awt.event.ActionListener() {
208. public void actionPerformed(
209. java.awt.event.ActionEvent e) {
210. Motor.C.setSpeed(speedC);
211. Motor.C.forward();
212. }
213. });
214. }
215. return jBtn_C_F;
216. }
217.
218. private JButton getJBtn_C_B() {
219. if (jBtn_C_B == null) {
220. jBtn_C_B = new JButton();
221. jBtn_C_B.setText("C馬達反轉");
222. jBtn_C_B.setSize(new Dimension(120, 35));
223. jBtn_C_B.setFont(new Font("Dialog", Font.PLAIN, 18));
224. jBtn_C_B.setLocation(new Point(431, 164));
225. jBtn_C_B.addActionListener(
226. new java.awt.event.ActionListener() {
227. public void actionPerformed(
228. java.awt.event.ActionEvent e) {
229. Motor.C.setSpeed(speedC);
230. Motor.C.backward();
231. }
232. });
233. }
234. return jBtn_C_B;
235. }
236.
237. private JButton getJBtn_C_S() {
238. if (jBtn_C_S == null) {
239. jBtn_C_S = new JButton();
240. jBtn_C_S.setFont(new Font("Dialog", Font.PLAIN, 18));
241. jBtn_C_S.setLocation(new Point(568, 164));
242. jBtn_C_S.setSize(new Dimension(120, 35));
243. jBtn_C_S.setText("C馬達停止");
244. jBtn_C_S.addActionListener(
245. new java.awt.event.ActionListener() {
246. public void actionPerformed(
247. java.awt.event.ActionEvent e) {
248. Motor.C.stop();
249. }
250. });
251. }
252. return jBtn_C_S;
253. }
254.
255. private JTextField getJTF_A() {
256. if (jTF_A == null) {
257. jTF_A = new JTextField();
258. jTF_A.setLocation(new Point(123, 35));
259. jTF_A.setHorizontalAlignment(JTextField.RIGHT);
260. jTF_A.setEnabled(false);
261. jTF_A.setFont(new Font("Dialog", Font.PLAIN, 18));
262. jTF_A.setSize(new Dimension(40, 30));
263. }
264. return jTF_A;
265. }
266.
267. private JTextField getJTF_B() {
268. if (jTF_B == null) {
269. jTF_B = new JTextField();
270. jTF_B.setLocation(new Point(123, 100));
271. jTF_B.setHorizontalAlignment(JTextField.RIGHT);
272. jTF_B.setEnabled(false);
273. jTF_B.setFont(new Font("Dialog", Font.PLAIN, 18));
274. jTF_B.setSize(new Dimension(40, 30));
275. }
276. return jTF_B;
277. }
278.
279. private JTextField getJTF_C() {
280. if (jTF_C == null) {
281. jTF_C = new JTextField();
282. jTF_C.setLocation(new Point(123, 166));
283. jTF_C.setHorizontalAlignment(JTextField.RIGHT);
284. jTF_C.setEnabled(false);
285. jTF_C.setFont(new Font("Dialog", Font.PLAIN, 18));
286. jTF_C.setSize(new Dimension(40, 30));
287. }
288. return jTF_C;
289. }
290.
291. private JButton getJBtn_Exit() {
292. if (jBtn_Exit == null) {
293. jBtn_Exit = new JButton();
294. jBtn_Exit.setBounds(new Rectangle(437, 225, 251, 39));
295. jBtn_Exit.setBackground(Color.pink);
296. jBtn_Exit.setFont(new Font("Dialog", Font.PLAIN, 18));
297. jBtn_Exit.setText("停止所有馬達, 離開程式");
298. jBtn_Exit.addActionListener(
299. new java.awt.event.ActionListener() {
300. public void actionPerformed(
301. java.awt.event.ActionEvent e) {
302. Motor.A.stop();
303. Motor.B.stop();
304. Motor.C.stop();
305. NXTCommand.close();
306. System.exit(0);
307. }
308. });
309. }
310. return jBtn_Exit;
311. }
312.
313. public static void main(String[] args) {
314. SwingUtilities.invokeLater(new Runnable() {
315. public void run() {
316. ControlMotors thisClass = new ControlMotors();
317. thisClass.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
318. thisClass.setVisible(true);
319. }
320. });
321.
322. }
323.
324. public ControlMotors() {
325. super();
326. initialize();
327. }
328.
329. private void initialize() {
330. this.setSize(735, 312);
331. this.setContentPane(getJContentPane());
332. this.setTitle("透過藍芽控制NXT伺服馬達");
333. speedA = jSldr_A.getValue();
334. speedB = jSldr_B.getValue();
335. speedC = jSldr_C.getValue();
336. jTF_A.setText(String.valueOf(speedA));
337. jTF_B.setText(String.valueOf(speedB));
338. jTF_C.setText(String.valueOf(speedC));
339. NXTCommand.setVerify(true);
340. }
341.
342. private JPanel getJContentPane() {
343. if (jContentPane == null) {
344. jLabel_A = new JLabel();
345. jLabel_A.setText("A馬達速度:");
346. jLabel_A.setForeground(Color.red);
347. jLabel_A.setLocation(new Point(23, 31));
348. jLabel_A.setSize(new Dimension(98, 34));
349. jLabel_A.setFont(new Font("Dialog", Font.PLAIN, 18));
350. jLabel_B = new JLabel();
351. jLabel_B.setText("B馬達速度:");
352. jLabel_B.setForeground(Color.red);
353. jLabel_B.setSize(new Dimension(98, 34));
354. jLabel_B.setLocation(new Point(23, 98));
355. jLabel_B.setFont(new Font("Dialog", Font.PLAIN, 18));
356. jLabel_C = new JLabel();
357. jLabel_C.setText("C馬達速度:");
358. jLabel_C.setForeground(Color.red);
359. jLabel_C.setSize(new Dimension(98, 34));
360. jLabel_C.setLocation(new Point(23, 162));
361. jLabel_C.setFont(new Font("Dialog", Font.PLAIN, 18));;
362. jContentPane = new JPanel();
363. jContentPane.setLayout(null);
364. jContentPane.setFont(new Font("Dialog",Font.PLAIN,18));
365. jContentPane.add(jLabel_A, null);
366. jContentPane.add(getJSldr_B(), null);
367. jContentPane.add(getJSldr_A(), null);
368. jContentPane.add(getJBtn_A_B(), null);
369. jContentPane.add(getJBtn_A_F(), null);
370. jContentPane.add(jLabel_B, null);
371. jContentPane.add(getJBtn_C_F(), null);
372. jContentPane.add(getJBtn_B_F(), null);
373. jContentPane.add(getJBtn_B_B(), null);
374. jContentPane.add(getJSldr_C(), null);
375. jContentPane.add(jLabel_C, null);
376. jContentPane.add(getJBtn_C_B(), null);
377. jContentPane.add(getJTF_A(), null);
378. jContentPane.add(getJTF_B(), null);
379. jContentPane.add(getJTF_C(), null);
380. jContentPane.add(getJBtn_A_S(), null);
381. jContentPane.add(getJBtn_B_S(), null);
382. jContentPane.add(getJBtn_C_S(), null);
383. jContentPane.add(getJBtn_Exit(), null);
384. }
385. return jContentPane;
386. }
387. }
==<end>==============