Lego Mindstorm NXT program

I temporarily had a Lego Mindstorm NXT and wrote the following program for it using LeJOS.  Enjoy:

import java.util.*;

import lejos.nxt.*;

import lejos.util.*;

public class Dingbot {

public static void main (String[] aArg) throws Exception {

new ButtonWatcherThread(new TimerListener() {

public void timedOut() {

running = !running;

}

}).start();

motorRight.smoothAcceleration(true);

motorLeft.smoothAcceleration(true);

final float circumference = 17.5f;

final int distanceBuffer = 50;

final int rotateDistance = 80;

UltrasonicSensor distSensor = new UltrasonicSensor(SensorPort.S4);

LightSensor litSensor = new LightSensor(SensorPort.S2);

litSensor.setFloodlight(true);

LCD.drawString("Hi",1,1);

int startTime = (int)System.currentTimeMillis();

boolean blinkLight = true;

Random random = new Random();

while(startTime + 60*1000 > (int)System.currentTimeMillis()) {

if(running) {

int cmDist = distSensor.getDistance();

while(running && cmDist > distanceBuffer) {

LCD.drawString("   ",1,2);

LCD.drawInt(cmDist,1,2);

int distance = cmDist - distanceBuffer;

if(distance > 5) {

distance = 3;

}

int degrees = (int)(360 * distance / circumference);

setSpeed();

motorRight.rotate(degrees, true);

motorLeft.rotate(degrees, true);

cmDist = distSensor.getDistance();

litSensor.setFloodlight(blinkLight);

blinkLight = !blinkLight;

LCD.drawInt(litSensor.readNormalizedValue(),1,4);

}

boolean turnPositive = random.nextBoolean();

while(running && cmDist <>

LCD.drawString("   ",1,2);

LCD.drawInt(cmDist,1,2);

setSpeed();

if(turnPositive) {

motorRight.rotate(180);

} else {

motorRight.rotate(-180);

}

cmDist = distSensor.getDistance();

}

} else {

try {

Thread.sleep(500);

} catch(InterruptedException ie) {

//Ignore

}

}

}

}

public static void setSpeed() {

int soundLevel = sound.readValue();

LCD.drawString("   ",1,3);

LCD.drawInt(soundLevel,1,3);

int speed = (100 - soundLevel) * 9;

motorRight.setSpeed(speed);

motorLeft.setSpeed(speed);

}

static Motor motorRight = Motor.B;

static Motor motorLeft = Motor.C;

private static SoundSensor sound = new SoundSensor(SensorPort.S1);

private static boolean running = false;

}

class ButtonWatcherThread extends Thread {

public ButtonWatcherThread(TimerListener tl) {

this.tl = tl;

this.setDaemon(true);

}

public void run() {

wasPressedLast = touchSensor.isPressed();

while(true) {

boolean isPressed = touchSensor.isPressed();

if(wasPressedLast != isPressed) {

if(isPressed) {

tl.timedOut();

}

wasPressedLast = isPressed;

}

try {

Thread.sleep(100);

} catch(InterruptedException ie) {

//Ignore

}

}

}

private TimerListener tl;

private boolean wasPressedLast;

private TouchSensor touchSensor = new TouchSensor(SensorPort.S3);

}