import lejos.nxt.Sound; //导入依赖的package包/类
public static void main (String[] args){
	FactoryTruck pilot = PilotFactory.getDefaultPilot();
	pilot.setRotateSpeed(50.0);
	UltrasonicSensor ultrasonicSensor = new UltrasonicSensor(ULTRASONIC_SENSOR_PORT);
	LightSensor lightSensor = new LightSensor(LIGHT_SENSOR_PORT);
	
	System.out.println("Press a Button" + "\nto start...");
	Button.waitForAnyPress();
	Sound.beep();
	Behavior[] behaviors = {
		new NormalBehavior(ultrasonicSensor),
		new DriveForwardBehavior(pilot, ultrasonicSensor, lightSensor),
		new RightCurveBehavior(pilot, ultrasonicSensor)
	};
	Arbitrator arbitrator = new Arbitrator(behaviors, true);
	arbitrator.start();
}
 

import lejos.nxt.Sound; //导入依赖的package包/类
@Override
public void update(Observable o, Object arg) {
	long timeshift = (Long)arg;
	double angle = this.getAngle(timeshift);
	
	Sound.setVolume(60);
	Sound.beep();
	Sound.setVolume(0);
	
	if (Math.abs(angle) > 2.5)
		this.move.correctAngle(angle);
	
	switch (this.pos.getDirection()) {
	case NORTH:
		this.pos.setX(Math.round(this.pos.getX()) + Config.CORRECTION_RATIO);
		break;
	case SOUTH:
		this.pos.setX(Math.round(this.pos.getX()) - Config.CORRECTION_RATIO);
		break;
	case EAST:
		this.pos.setY(Math.round(this.pos.getY()) - Config.CORRECTION_RATIO);
		break;
	case WEST:
		this.pos.setY(Math.round(this.pos.getY()) + Config.CORRECTION_RATIO);
		break;
	}
	
	return;
}
 

import lejos.nxt.Sound; //导入依赖的package包/类
void handleInput(){
    try{
        byte[] b = new byte[256];
        int byteCount = input.read( b );
        String str = new String( b, 0, byteCount );
        System.out.println(str);
        Sound.beep();
    }
    catch( IOException e ){
        System.out.println("Error while reading from stream.\n"+e);
    }
}
 

import lejos.nxt.Sound; //导入依赖的package包/类
public void stop() {

		this.accion = 27;
		if(isSound())
			Sound.playSoundFile("para.rso");
		Motor.B.stop();
		Motor.C.stop();
		Log.d("Action", "Stop");
	}
 

import lejos.nxt.Sound; //导入依赖的package包/类
public void parar() {
	this.accion = 27;
	if(isSound())
		Sound.playSoundFile("para.rso");
	Motor.B.stop();
	Motor.C.stop();
	Log.d("Action", "Stop");
}
 

import lejos.nxt.Sound; //导入依赖的package包/类
public void saluda() {
	if (this.accion == 11)
		return;
	
	if(isSound())
		Sound.playSoundFile("hola.rso");
	Log.d("Action", "Saluda");

}
 

import lejos.nxt.Sound; //导入依赖的package包/类
/**
 * Hinweiston abspielen
 */
public void signal() {
	switch( this.sound ) {
		case SOUND_BEEP:
			Sound.beep();
			break;
		case SOUND_BUZZ:
			Sound.buzz();
			break;
		case SOUND_TWOBEEP:
			Sound.twoBeeps();
			break;
	}
}
 

import lejos.nxt.Sound; //导入依赖的package包/类
public static void main(String[] args) {
	CompassSensor CS = new CompassSensor(SensorPort.S2);
	while(!Button.ESCAPE.isPressed()){
		Sound.playTone((int) CS.getDegrees()*10, 10, 75);
	}
}