Parallel Parking Robot

Difficulty: Medium

ABOUT

For my Robotics class, our final was to build a robot using the lejos NXT brick and Java. My project was to create a parallel parking robot using the NXT Motors and Ultrasonic Sensor. I was able to utilize multithreading and use the built-in Differential Pilot class to keep track of positioning and motors.

CODE

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Diagram

There are 15 differerent states this robot goes through. After each state, the robot will move to the next state unless there are multiple outgoing arrows. Then, it will decide whether the condition has passed for one of the arrows. If not, it will continue moving forward. The user can step through this process using the arrow keys on the NXT brick, or they can watch it all happen automatically. The robot is guaranteed to make it to the path without hitting any obstacles.

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