control
I have problem about my program, this program used to control toy car
like R/C(radio control). like this little story :
we know about how drive R/C(radio control), if we push button move than car to move
if we push button move and push button move to left or right than car to
move and rotate left or right.
and I use computer to can drive car like we drive R/C(radio control) car
but I use the map before computer to khow where is destination and don't crash
my be you can see " picture 1 ". I use red color for car and blu color
for destination and the last black color for the map.
car move from left monitor to right monitor for initial position and then
car move to destination if in ahead car have barrier then car
rotate like " picture 1 ".
for note ' car can rotate left or right because he have sensor. this sensor
just check pixcel in ahead my be 35 long from car see " picture 3 " , this sensor
have 4 sensor on top, under, left , right monitor in the " picture 3 " I build 1 sensor '
the problem if I rotate car for initial position car move from right monitor
to left monitor he can move. car can move this position but for initial position
car move from left monitor the sensor error he can't check that ahead have barrier
you can see " picture 4 ". if I not used that program for initial position car move
from right monitor car move don't crash.
where is wrong ?
I done to all procedure to check
I can't find this error
( for help I give my full program )
{for picture you can email me : ba12yu@yahoo.co.uk
import java.awt.*;
import java.awt.event.*;
import java.io.*;
import java.io.InputStream;
import java.io.IOException;
import java.io.OutputStream;
import java.util.*;
import java.util.Enumeration;
import java.util.TooManyListenersException;
import java.applet.*;
import javax.comm.*;
//import java.lang.Thread;
/*<applet code = "control" height = 450 width =650>
</applet>*/
//klass control
public class control extends Applet implements ItemListener,ActionListener,MouseListener,MouseMotionListener {
// deklarasi variable
String kh,aj;
String msg="o";
Enumeration portList;
CommPortIdentifier portId;
SerialPort serialPort;
OutputStream outputStream;
CheckboxGroup h = new CheckboxGroup();
Checkbox mobil = new Checkbox("Tampil Mobil",h,false);
Checkbox target = new Checkbox("Tampil Target",h,false);
Checkbox tmp = new Checkbox("t",h,false);
Button jalan = new Button("Jalan");
Button ok = new Button("OK");
//button putar = new Button("Putar");
final int n = 1;
final int m = 6;
final int r = 5;
double kot[][] = new double[2][r];
int tkot[][] = new int[2][r];
double kub[][][] = new double[n][3][m];
int tkub[][][] = new int[n][2][m];
int px,py,sx,sy,dg,cj=0;
boolean tos;
int xx,yy,p,q,c,l,nm,tp,b5;
double v,b,rt,re;
int dep,bel,kir,kan;
double cv,cn,aa,bb,pstx,psty;
double xx1,yy1;
double wa,qo,u,x,y,z;
int y1,y2,l1,l2,l3,l4,dx,dy,dz,de2,ee1,de1,ee2;
int a1,a2,a3,a4,a5,a6,a7,a8;
int zx1,zx2,zx3,zx4,zx5,zx6,zx7,zx8;
int zy1,zy2,zy3,zy4;
int zk1,zk2,zk3,zk4;
int w=1,w1=1,w2=1,w3=1,w4=1,w5=1,w6=0,w7=0,w8=0,w9=0;
//deklarasi peta
int r1=127, r2=127, r3=63, r4=25;
int t1=355, t2=76, t3=25, t4=25;
int u1=298, u2=127, u3=63, u4=76;
int b1=507, b2=5,b3=38, b4=152;
int e1=279, e2=184, e3=279, e4=101;
int o1=89, o2=221, o3=177, o4=63;
int i1=5,i2=127, i3=63, i4=127;
int v1=152, v2=5,v3=89, v4=38;
// build box destination
public void kot() {
kot[0][0]=230;kot[1][0]=100;
kot[0][1]=240;kot[1][1]=100;
kot[0][2]=240;kot[1][2]=110;
kot[0][3]=230;kot[1][3]=110;
kot[0][4]=230;kot[1][4]=100;
tukar();
//pusat();
posisi1();
}
//build car
public void kotak(){
kub[0][0][0]=20;kub[0][1][0]=10; kub[0][2][0]=0;
kub[0][0][1]=-20; kub[0][1][1]=10; kub[0][2][1]=0;
kub[0][0][2]=-20; kub[0][1][2]=-10; kub[0][2][2]=0;
kub[0][0][3]=20;kub[0][1][3]=-10; kub[0][2][3]=0;
kub[0][0][4]=25;kub[0][1][4]=0; kub[0][2][4]=0;
kub[0][0][5]=20;kub[0][1][5]=10; kub[0][2][5]=0;
posisi();
salin();
//depan();
//kiri();
//kanan();
//belakang();
}
//
//build cek sensor pixcel
//
public void cek1(){
if(tkub[0][0][0]!=tkub[0][0][1] && tkub[0][0][0] > tkub[0][0][1]){
if(pstx!=v){
if(l1!=0 && w!=0){
//maju
jal();
hub1();
//mobil rotasi pada l1==0 ke kiri
if(l1==0 && l2!=0 && l3==0){
w=0;
hub1();
//for(int i=0;i<=500;i++){
// if(i!=500)
// msg="d";
//send(msg); }
rot(Math.PI/4);
if(cv!=zx2)
repaint(250);
hub1();
//mobil rotasi pada l1==0 ke kanan
}else if(l1==0 && l2==0 && l3!=0){
w=0;
hub1();
// for(int i=0;i<=500;i++){
// if(i!=500)
//msg="c";
//send(msg);}
rot1(Math.PI/4);
if(cv!=zx8)//a2 *zx6
repaint(250);
hub1();
}else if(l1==0 && l2!=0 && l3!=0){
w=0;
w1=0;
w2=0;
hub1();
if(cn > b){
// for(int i=0;i<=500;i++){
//if(i!=500)
//msg="c";
//send(msg);}
rot(Math.PI/2);
if(cv!=zk2)
repaint(250);
w7=1;
hub1();
}else if(tkub[0][1][3] < b){
//for(int i=0;i<=500;i++){
//if(i!=500)
// msg="c";
// send(msg);}
rot1(Math.PI/2);
if(cv!=zy2)
repaint(250);
w6=1;
hub1();}
}
}
//jalan miring kiri
}
if(l1!=0 && w==0 && w1!=0){
w=0;
//msg="a";
//send(msg);
trans(1,-1);
if(l1!=0 && w1!=0)
repaint(215);
hub1();
if(l1==0 && w1!=0){
w1=0;
// for(int i=0;i<=500;i++){
// if(i!=500)
// msg="c";
//send(msg);}
rot1(Math.PI/4);
if(cv!=zx7)//a1
repaint(250);
hub1();
//w2=0;
w=1;}
//jalan miring kanan
}else if(l1==0 && w==0 && w2!=0){
//msg="a";
//send(msg);
trans(1,1);
if(l1==0 && w2!=0)
repaint(215);
hub1();
w1=0;
if(l1!=0 && w2!=0){
w2=0;
//for(int i=0;i<=500;i++){
// if(i!=500)
//msg="b";
//send(msg);}
rot(Math.PI/4);
if(cv!=zx1);
repaint(250);
hub1();
w=1;}
}
//berheti jika target di depan
if(pstx==v){
if(cn<=b && tkub[0][1][3] >= b){
//msg="d";
//send(msg);
w=0;
w1=0;
w2=0;
hub1();
}
//untuk melakukan pengecekan jika tujuan diluar jangkauan
if(cn > b){
//for(int i=0;i<=500;i++){
// if(i!=500)
//msg="d";
//send(msg);}
rot(Math.PI/2);
if(cv!=zk2)//zk
repaint(250);
hub1();
w=0;
w1=0;
w2=0;
w7=1;
}else if(tkub[0][1][3] < b){
//for(int i=0;i<=500;i++){
//if(i!=500)
//msg="d";
//send(msg);}
rot1(Math.PI/2);
if(cv!=zx7) //zy2
repaint(250);
hub1();
w=0;
w1=0;
w2=0;
w6=1;}
}
}
// maju ke atas montor dalam peta
if(cn > b && w==0 && w7!=0){
trans(0,-1);
if(cn!=b)
repaint(215);
hub1();}
if(cn==b && tkub[0][0][3] < v){
rot1(Math.PI/2);
if(cv!=zx7)
repaint(250);
hub1();
w=1;
w1=0;
w2=0;
w7=0;}
// maju ke bawah monitor dalam peta
if(tkub[0][1][3] < b && w==0 && w6!=0){
trans(0,1);
if(cn!=b)
repaint(215);
hub1();}
if(cn==b && cv < v){
rot(Math.PI/2);
if(cv!=zk4)
repaint(250);
hub1();
w=1;
w1=0;
w2=0;
w6=0;}
}
//
//
//
public void jal(){ //for car to move
trans(1,0);
//msg="a";
//send(msg);
if(l1!=0 && w!=0)
repaint(215);}
//check car position
public void hub1(){
if(tkub[0][0][0]!=tkub[0][0][1] && tkub[0][0][0] > tkub[0][0][1]){
periksa1();
periksa2();
periksa3();
periksa4();
}else
if(tkub[0][0][0]!=tkub[0][0][1] && tkub[0][0][0] < tkub[0][0][1]){
periksa1b();
periksa2b();
periksa3b();
periksa4b();
}else
if(tkub[0][1][0]!=tkub[0][1][1] && tkub[0][1][0] > tkub[0][1][1]){
periksa1c();
periksa2c();
periksa3c();
periksa4c();
}else
if(tkub[0][1][0] != tkub[0][1][1] && tkub[0][1][0] < tkub[0][1][1]){
periksa1a();
periksa2a();
periksa3a();
periksa4a();
}
}
//for initial position left to right monitor
//check sensor pixcel
// ahead sensor
public void periksa1(){
if(dep >= 5 && dep <=5+557
&& de1 >= 5 && de1 <= 5+279){
if(dep >= r1 && dep <= r1+r3
&& de1 >= r2 && de1 <= r2+r4){
l1=0;
}else if(dep >= v1 && dep <=v1+v3
&& de1 >= v2 && de1 <=v2+v4){
l1=0;
}else if(dep >= u1 && dep<=u1+u3
&& de1 >= u2 && de1<=u2+u4){
l1=0;
}else if(dep >= t1 && dep<= t1+t3
&& de1 >= t2 && de1 <=t2+t4){
l1=0;
}else if(dep >= i1 && dep<=i1+i3
&& de1 >= i2 && de1 <=i2+i4){
l1=0;
}else if(dep >= o1 && dep<=o1+o3
&& de1 >= o2 && de1 <=o2+o4){
l1=0;
}else if(dep >= e1 && dep<= e1+e3
&& de1 >= e2 && de1 <=e2+e4){
l1=0;
}else if(dep >= b1 && dep <= b1+b3
&& de1 >= b2 && de1 <= b2+b4){
l1=0;
}else{
l1=1;}
}else{
l1=0;}
}
//left sensor
public void periksa2(){
if(ee1 >= 5 && ee1 <=5+557
&& kir >= 5 && kir <=5+279){
if(ee1 >= r1 && ee1<= r1+r3
&& kir >= r2 && kir <=r2+r4){
l2=0;
}else if(ee1 >= v1 && ee1<= v1+v3
&& kir >= v2 && kir <= v2+v4){
l2=0;
}else if(ee1 >= u1 && ee1<=u1+u3
&& kir >= u2 && kir <=u2+u4){
l2=0;
}else if(ee1>= t1 && ee1<=t1+t3
&& kir >= t2 && kir <=t2+t4){
l2=0;
}else if(ee1 >= i1 && ee1<=i1+i3
&& kir >= i2 && kir <=i2+i4){
l2=0;
}else if(ee1 >= o1 && ee1<= o1+o3
&& kir >= o2 && kir <=o2+o4){
l2=0;
}else if(ee1 >= e1 && ee1<=e1+e3
&& kir >= e2 && kir <=e2+e4){
l2=0;
}else if(ee1 >= b1 && ee1<= b1+b3
&& kir >= b2 && kir <= b2+b4){
l2=0;
}else {
l2 =1;}
}else{
l2=0;
}
}
//right sensor
public void periksa3(){
if(ee2 >= 5 && ee2 <=5+557
&& kan >= 5 && kan <=5+279){
if(ee2 >= r1 && ee2<= r1+r3
&& kan >= r2 && kan <=r2+r4){
l3 = 0;
}else if(ee2 >= v1 && ee2<= v1+v3
&& kan >= v2 && kan <= v2+v4){
l3=0;
}else if( ee2 >= u1 && ee2<= u1+u3
&& kan >= u2 && kan <= u2+u4){
l3=0;
}else if(ee2 >= t1 && ee2<= t1+t3
&& kan >= t2 && kan <= t2+t4){
l3=0;
}else if( ee2 >= i1 && ee2<=i1+i3
&& kan >= i2 && kan <=i2+i4){
l3=0;
}else if( ee2 >= o1 && ee2<= o1+o3
&& kan >= o2 && kan <=o2+o4){
l3=0;
}else if( ee2 >= e1 && ee2<= e1+e3
&& kan >= e2&& kan <= e2+e4){
l3=0;
}else if( ee2 >= b1 && ee2<=b1+b3
&& kan >= b2 && kan <= b2+b4){
l3=0;
}else {
l3 =1;}
}else{
l3=0;
}
}
//behind sensor
public void periksa4(){
if((bel >= 5)&&(bel <=(5+557))
&&(de2 >= 5)&&(de2 <=(5+279))){
if((bel >= r1)&&(bel<=(r1+r3))
&&(de2 >= r2)&&(de2 <=(r2+r4))){
l4=0;
}else if((bel >= v1)&&(bel<=(v1+v3))
&&(de2 >= v2)&&(de2 <=(v2+v4))){
l4=0;
}else if((bel >= u1)&&(bel<=(u1+u3))
&&(de2 >= u2)&&(de2 <=(u2+u4))){
l4=0;
}else if((bel >= t1)&&(bel<=(t1+t3))
&&(de2 >= t2)&&(de2 <=(t2+t4))){
l4=0;
}else if((bel >= i1)&&(bel<=(i1+i3))
&&(de2 >= i2)&&(de2 <=(i2+i4))){
l4=0;
}else if((bel >= o1)&&(bel<=(o1+o3))
&&(de2 >= o2)&&(de2 <=(o2+o4))){
l4=0;
}else if((bel >= e1)&&(bel<=(e1+e3))
&&(de2 >= e2)&&(de2 <=(e2+e4))){
l4=0;
}else if((bel >= b1)&&(bel<=(b1+b3))
&&(de2 >= b2)&&(de2 <=(b2+b4))){
l4=0;
}else if(l1==0 && l2==0 && l3==0){
l4 =1;
}else{
l4=0;}
}
}
//for next initial position
//
public void periksa1a(){
if((ee1 >= 5)&&(ee1 <=(5+557))
&&(dep >= 5)&&(dep <=(5+279))){
if((ee1 >= r1)&&(ee1<=(r1+r3))
&&(dep >= r2)&&(dep <=(r2+r4))){
l1=0;
}else if((ee1 >= v1)&&(ee1<=(v1+v3))
&&(dep >= v2)&&(dep <=(v2+v4))){
l1=0;
}else if((ee1 >= u1)&&(ee1<=(u1+u3))
&&(dep >= u2)&&(dep <=(u2+u4))){
l1=0;
}else if((ee1 >= t1)&&(ee1<=(t1+t3))
&&(dep >= t2)&&(dep <=(t2+t4))){
l1=0;
}else if((ee1 >= i1)&&(ee1<=(i1+i3))
&&(dep >= i2)&&(dep <=(i2+i4))){
l1=0;
}else if((ee1 >= o1)&&(ee1<=(o1+o3))
&&(dep >= o2)&&(dep <=(o2+o4))){
l1=0;
}else if((ee1>= e1)&&(ee1<=(e3))
&&(dep >= e2)&&(dep <=(e4))){
l1=0;
}else if((ee1 >= b1)&&(ee1<=(b1+b3))
&&(dep >= b2)&&(dep <=(b2+b4))){
l1=0;
}else {
l1 =1;}
}else{
l1=0;}
}
//
public void periksa2a(){
if((kir >= 5)&&(kir <=(5+557))
&&(de2 >= 5)&&(de2 <=(5+279))){
if((kir >= r1)&&(kir<=(r1+r3))
&&(de2 >= r2)&&(de2 <=(r2+r4))){
l2 = 0;
}else if((kir >= v1)&&(kir<=(v1+v3))
&&(de2 >= v2)&&(de2 <=(v2+v4))){
l2=0;
}else if((kir >= u1)&&(kir<=(u1+u3))
&&(de2 >= u2)&&(de2 <=(u2+u4))){
l2=0;
}else if((kir >= t1)&&(kir<=(t1+t3))
&&(de2 >= t2)&&(de2 <=(t2+t4))){
l2=0;
}else if((kir >= i1)&&(kir<=(i1+i3))
&&(de2 >= i2)&&(de2 <=(i2+i4))){
l2=0;
}else if((kir >= o1)&&(kir<=(o1+o3))
&&(de2 >= o2)&&(de2 <=(o2+o4))){
l2=0;
}else if((kir >= e1)&&(kir<=(e3))
&&(de2 >= e2)&&(de2 <=(e4))){
l2=0;
}else if((kir >= b1)&&(kir<=(b1+b3))
&&(de2 >= b2)&&(de2 <=(b2+b4))){
l2=0;
}else {
l2 =1;}
}else{
l2=0;}
}
//
public void periksa3a(){
if((kan>= 5)&&(kan <=(5+557))
&&(de1 >= 5)&&(de1 <=(5+279))){
if((kan >= r1)&&(kan<=(r1+r3))
&&(de1 >= r2)&&(de1 <=(r2+r4))){
l3 = 0;
}else if((kan >= v1)&&(kan<=(v1+v3))
&&(de1 >= v2)&&(de1 <=(v2+v4))){
l3=0;
}else if((kan >= u1)&&(kan<=(u1+u3))
&&(de1 >= u2)&&(de1 <=(u2+u4))){
l3=0;
}else if((kan >= t1)&&(kan<=(t1+t3))
&&(de1 >= t2)&&(de1 <=(t2+t4))){
l3=0;
}else if((kan >= i1)&&(kan<=(i1+i3))
&&(de1 >= i2)&&(de1 <=(i2+i4))){
l3=0;
}else if((kan >= o1)&&(kan<=(o1+o3))
&&(de1 >= o2)&&(de1 <=(o2+o4))){
l3=0;
}else if((kan >= e1)&&(kan<=(e3))
&&(de1 >= e2)&&(de1 <=(e4))){
l3=0;
}else if((kan >= b1)&&(kan<=(b1+b3))
&&(de1 >= b2)&&(de1 <=(b2+b4))){
l3=0;
}else{
l3 =1;}
}else{
l3=0;}
}
//
public void periksa4a(){
if((ee2 >= 5)&&(ee2 <=(5+557))
&&(bel >= 5)&&(bel <=(5+279))){
if((ee2 >= r1)&&(ee2<=(r1+r3))
&&(bel >= r2)&&(bel <=(r2+r4))){
l4 = 0;
}else if((ee2 >= v1)&&(ee2<=(v1+v3))
&&(bel >= v2)&&(bel <=(v2+v4))){
l4=0;
}else if((ee2 >= u1)&&(ee2<=(u1+u3))
&&(bel >= u2)&&(bel <=(u2+u4))){
l4=0;
}else if((ee2 >= t1)&&(ee2<=(t1+t3))
&&(bel >= t2)&&(bel <=(t2+t4))){
l4=0;
}else if((ee2>= i1)&&(ee2<=(i1+i3))
&&(bel >= i2)&&(bel <=(i2+i4))){
l4=0;
}else if((ee2 >= o1)&&(ee2<=(o1+o3))
&&(bel >= o2)&&(bel <=(o2+o4))){
l4=0;
}else if((ee2 >= e1)&&(ee2<=(e3))
&&(bel >= e2)&&(bel<=(e4))){
l4=0;
}else if((ee2 >= b1)&&(ee2<=(b1+b3))
&&(bel >= b2)&&(bel <=(b2+b4))){
l4=0;
}else if((l1==0)&&(l2==0)&&(l3==0)){
l4 =1;
}else{
l4=0;}
}
}
public void periksa1b(){
if(dep >= 5 && dep <=5+557
&& de2 >= 5 && de2 <= 5+279){
if(dep >= r1 && dep<= r1+r3
&& de2 >= r2 && de2 <= r2+r4){
l1=0;
}else if(dep >= v1 && dep<=v1+v3
&& de2 >= v2 && de2<=v2+v4){
l1=0;
}else if(dep >= u1 && dep<=u1+u3
&& de2 >= u2 && de2<=u2+u4){
l1=0;
}else if(dep >= t1 && dep<= t1+t3
&& de2 >= t2 && de2 <=t2+t4){
l1=0;
}else if(dep >= i1 && dep<=i1+i3
&& de2 >= i2 && de2 <=i2+i4){
l1=0;
}else if(dep >= o1 && dep<=o1+o3
&& de2 >= o2 && de2 <=o2+o4){
l1=0;
}else if(dep >= e1 && dep<= e1+e3
&& de2 >= e2 && de2 <=e2+e4){
l1=0;
}else if(dep >= b1 && dep <= b1+b3
&& de2 >= b2 && de2 <= b2+b4){
l1=0;
}else{
l1=1;}
}else{
l1=0;}
}
public void periksa2b(){
if((ee2 >= 5)&&(ee2 <=(5+557))
&&(kir >= 5)&&(kir <=(5+279))){
if((ee2 >= r1)&&(ee2<=(r1+r3))
&&(kir >= r2)&&(kir <=(r2+r4))){
l2=0;
}else if((ee2 >= v1)&&(ee2<=(v1+v3))
&&(kir >= v2)&&(kir <=(v2+v4))){
l2=0;
}else if((ee2 >= u1)&&(ee2<=(u1+u3))
&&(kir >= u2)&&(kir <=(u2+u4))){
l2=0;
}else if((ee2>= t1)&&(ee2<=(t1+t3))
&&(kir >= t2)&&(kir <=(t2+t4))){
l2=0;
}else if((ee2 >= i1)&&(ee2<=(i1+i3))
&&(kir >= i2)&&(kir <=(i2+i4))){
l2=0;
}else if((ee2 >= o1)&&(ee2<=(o1+o3))
&&(kir >= o2)&&(kir <=(o2+o4))){
l2=0;
}else if((ee2 >= e1)&&(ee2<=(e1+e3))
&&(kir >= e2)&&(kir <=(e2+e4))){
l2=0;
}else if((ee2 >= b1)&&(ee2<=(b1+b3))
&&(kir >= b2)&&(kir <=(b2+b4))){
l2=0;
}else {
l2 =1;}
}else{
l2=0;
}
}
public void periksa3b(){
if((ee1 >= 5)&&(ee1 <=(5+557))
&&(kan >= 5)&&(kan <=(5+279))){
if((ee1 >= r1)&&(ee1<=(r1+r3))
&&(kan >= r2)&&(kan <=(r2+r4))){
l3 = 0;
}else if((ee1 >= v1)&&(ee1<=(v1+v3))
&&(kan >= v2)&&(kan <=(v2+v4))){
l3=0;
}else if((ee1 >= u1)&&(ee1<=(u1+u3))
&&(kan >= u2)&&(kan <=(u2+u4))){
l3=0;
}else if((ee1 >= t1)&&(ee1<=(t1+t3))
&&(kan >= t2)&&(kan <=(t2+t4))){
l3=0;
}else if((ee1 >= i1)&&(ee1<=(i1+i3))
&&(kan >= i2)&&(kan <=(i2+i4))){
l3=0;
}else if((ee1 >= o1)&&(ee1<=(o1+o3))
&&(kan >= o2)&&(kan <=(o2+o4))){
l3=0;
}else if((ee1 >= e1)&&(ee1<=(e1+e3))
&&(kan >= e2)&&(kan <=(e2+e4))){
l3=0;
}else if((ee1 >= b1)&&(ee1<=(b1+b3))
&&(kan >= b2)&&(kan <=(b2+b4))){
l3=0;
}else {
l3 =1;}
}else{
l3=0;
}
}
public void periksa4b(){
if((bel >= 5)&&(bel <=(5+557))
&&(de1 >= 5)&&(de1 <=(5+279))){
if((bel >= r1)&&(bel<=(r1+r3))
&&(de1 >= r2)&&(de1 <=(r2+r4))){
l4=0;
}else if((bel >= v1)&&(bel<=(v1+v3))
&&(de1 >= v2)&&(de1 <=(v2+v4))){
l4=0;
}else if((bel >= u1)&&(bel<=(u1+u3))
&&(de1 >= u2)&&(de1 <=(u2+u4))){
l4=0;
}else if((bel >= t1)&&(bel<=(t1+t3))
&&(de1 >= t2)&&(de1 <=(t2+t4))){
l4=0;
}else if((bel >= i1)&&(bel<=(i1+i3))
&&(de1 >= i2)&&(de1 <=(i2+i4))){
l4=0;
}else if((bel >= o1)&&(bel<=(o1+o3))
&&(de1 >= o2)&&(de1 <=(o2+o4))){
l4=0;
}else if((bel >= e1)&&(bel<=(e1+e3))
&&(de1 >= e2)&&(de1 <=(e2+e4))){
l4=0;
}else if((bel >= b1)&&(bel<=(b1+b3))
&&(de1 >= b2)&&(de1 <=(b2+b4))){
l4=0;
}else if(l1==0 && l2==0 && l3==0){
l4 =1;
}else{
l4=0;}
}
}
public void periksa1c(){
if((ee2 >= 5)&&(ee2 <=(5+557))
&&(dep >= 5)&&(dep <=(5+279))){
if((ee2 >= r1)&&(ee2<=(r1+r3))
&&(dep >= r2)&&(dep <=(r2+r4))){
l1=0;
}else if((ee2 >= v1)&&(ee2<=(v1+v3))
&&(dep >= v2)&&(dep <=(v2+v4))){
l1=0;
}else if((ee2 >= u1)&&(ee2<=(u1+u3))
&&(dep >= u2)&&(dep <=(u2+u4))){
l1=0;
}else if((ee2 >= t1)&&(ee2<=(t1+t3))
&&(dep >= t2)&&(dep <=(t2+t4))){
l1=0;
}else if((ee2 >= i1)&&(ee2<=(i1+i3))
&&(dep >= i2)&&(dep <=(i2+i4))){
l1=0;
}else if((ee2 >= o1)&&(ee2<=(o1+o3))
&&(dep >= o2)&&(dep <=(o2+o4))){
l1=0;
}else if((ee2>= e1)&&(ee2<=(e3))
&&(dep >= e2)&&(dep <=(e4))){
l1=0;
}else if((ee2 >= b1)&&(ee2<=(b1+b3))
&&(dep >= b2)&&(dep <=(b2+b4))){
l1=0;
}else {
l1 =1;}
}else{
l1=0;}
}
public void periksa2c(){
if((kir >= 5)&&(kir <=(5+557))
&&(de1 >= 5)&&(de1 <=(5+279))){
if((kir >= r1)&&(kir<=(r1+r3))
&&(de1 >= r2)&&(de1 <=(r2+r4))){
l2 = 0;
}else if((kir >= v1)&&(kir<=(v1+v3))
&&(de1 >= v2)&&(de1 <=(v2+v4))){
l2=0;
}else if((kir >= u1)&&(kir<=(u1+u3))
&&(de1 >= u2)&&(de1 <=(u2+u4))){
l2=0;
}else if((kir >= t1)&&(kir<=(t1+t3))
&&(de1 >= t2)&&(de1 <=(t2+t4))){
l2=0;
}else if((kir >= i1)&&(kir<=(i1+i3))
&&(de1 >= i2)&&(de1 <=(i2+i4))){
l2=0;
}else if((kir >= o1)&&(kir<=(o1+o3))
&&(de1 >= o2)&&(de1 <=(o2+o4))){
l2=0;
}else if((kir >= e1)&&(kir<=(e3))
&&(de1 >= e2)&&(de1 <=(e4))){
l2=0;
}else if((kir >= b1)&&(kir<=(b1+b3))
&&(de1 >= b2)&&(de1 <=(b2+b4))){
l2=0;
}else {
l2 =1;}
}else{
l2=0;}
}
public void periksa3c(){
if((kan>= 5)&&(kan <=(5+557))
&&(de2 >= 5)&&(de2 <=(5+279))){
if((kan >= r1)&&(kan<=(r1+r3))
&&(de2 >= r2)&&(de2 <=(r2+r4))){
l3 = 0;
}else if((kan >= v1)&&(kan<=(v1+v3))
&&(de2 >= v2)&&(de2 <=(v2+v4))){
l3=0;
}else if((kan >= u1)&&(kan<=(u1+u3))
&&(de2 >= u2)&&(de2 <=(u2+u4))){
l3=0;
}else if((kan >= t1)&&(kan<=(t1+t3))
&&(de2 >= t2)&&(de2 <=(t2+t4))){
l3=0;
}else if((kan >= i1)&&(kan<=(i1+i3))
&&(de2 >= i2)&&(de2 <=(i2+i4))){
l3=0;
}else if((kan >= o1)&&(kan<=(o1+o3))
&&(de2 >= o2)&&(de2 <=(o2+o4))){
l3=0;
}else if((kan >= e1)&&(kan<=(e3))
&&(de2 >= e2)&&(de2 <=(e4))){
l3=0;
}else if((kan >= b1)&&(kan<=(b1+b3))
&&(de2 >= b2)&&(de2 <=(b2+b4))){
l3=0;
}else{
l3 =1;}
}else{
l3=0;}
}
public void periksa4c(){
if((ee1 >= 5)&&(ee1 <=(5+557))
&&(bel >= 5)&&(bel <=(5+279))){
if((ee1 >= r1)&&(ee1<=(r1+r3))
&&(bel >= r2)&&(bel <=(r2+r4))){
l4 = 0;
}else if((ee1 >= v1)&&(ee1<=(v1+v3))
&&(bel >= v2)&&(bel <=(v2+v4))){
l4=0;
}else if((ee1 >= u1)&&(ee1<=(u1+u3))
&&(bel >= u2)&&(bel <=(u2+u4))){
l4=0;
}else if((ee1 >= t1)&&(ee1<=(t1+t3))
&&(bel >= t2)&&(bel <=(t2+t4))){
l4=0;
}else if((ee1>= i1)&&(ee1<=(i1+i3))
&&(bel >= i2)&&(bel <=(i2+i4))){
l4=0;
}else if((ee1 >= o1)&&(ee1<=(o1+o3))
&&(bel >= o2)&&(bel <=(o2+o4))){
l4=0;
}else if((ee1 >= e1)&&(ee1<=(e3))
&&(bel >= e2)&&(bel<=(e4))){
l4=0;
}else if((ee1 >= b1)&&(ee1<=(b1+b3))
&&(bel >= b2)&&(bel <=(b2+b4))){
l4=0;
}else if((l1==0)&&(l2==0)&&(l3==0)){
l4 =1;
}else{
l4=0;}
}
}
//convert car position
//
//public void posisi(){
if((xx < 20) || (xx > 20)){
p = xx - 20;
cob1();
cob2();
cob3();
cob4();
}
if((yy < 10)||(yy > 10)){
q =yy + 10;}
}
//convert destination position
public void posisi1(){
if((xx < 230) || (xx > 230)){
c = xx - 230;}
if((yy < 100)||(yy > 100)){
l = yy + 100; }
}
//in inisial position left to right monitor
//long sensor ahead pixcel
public void depan(){
de1 = (tkub[0][1][1]+tkub[0][1][2])/2;
for(int i=tkub[0][0][0];i<=(tkub[0][0][0]+35);i+=1){
for(int j=de1; j<=de1; j++){
dep = i;
}
}
}
//long sensor left pixcel
public void kiri(){
ee1 = (tkub[0][0][0]+tkub[0][0][1])/2;
for(int i=ee1;i<=ee1;i+=1){
for(int j=tkub[0][1][0];j>=(tkub[0][1][0]-35);j--){
kir = j;
}
}
}
//long sensor right pixcel
public void kanan(){
ee2 = (tkub[0][0][0]+tkub[0][0][1])/2;
for(int i=ee2;i<=ee2;i+=1){
for(int j=tkub[0][1][3];j<=(tkub[0][1][3]+35);j++){
kan = j;
}
}
}
//long sensor behind pixcel
public void belakang(){
de2 = (tkub[0][1][1]+tkub[0][1][2])/2;
for(int i=tkub[0][0][1];i>=(tkub[0][0][1]-35);i--){
for(int j=de2;j<=de2;j++){
bel = i;
}
}
}
// next inisial position
public void depan1(){
ee1 = (tkub[0][0][1]+tkub[0][0][2])/2;
for(int i=ee1;i<=ee1;i+=1){
for(int j=tkub[0][1][0];j>=(tkub[0][1][0]-35);j--){
dep = j;
}
}
}
public void kiri1(){
de2 = (tkub[0][1][0]+tkub[0][1][1])/2;
for(int i=tkub[0][0][1];i>=(tkub[0][0][1]-35);i--){
for(int j=de2;j<=de2;j++){
kir = i;
}
}
}
public void kanan1(){
de1 = (tkub[0][1][0]+tkub[0][1][1])/2;
for(int i=tkub[0][0][3];i<=(tkub[0][0][3]+35);i+=1){
for(int j=de1;j<=de1;j+=1){
kan = i;
}
}
}
public void belakang1(){
ee2 = (tkub[0][0][1]+tkub[0][0][2])/2;
for(int i=ee2;i<=ee2;i+=1){
for(int j=tkub[0][1][1];j<=(tkub[0][1][1]+35);j++){
bel = j;
}
}
}
public void depan2(){
de2 = (tkub[0][1][1]+tkub[0][1][2])/2;
for(int i=tkub[0][0][0];i>=(tkub[0][0][0]-35);i--){
for(int j=de2;j<=de2;j++){
kan = i;
}
}
}
public void kiri2(){
ee2 = (tkub[0][0][0]+tkub[0][0][1])/2;
for(int i=ee2;i<=ee2;i++){
for(int j=tkub[0][1][0];j<=(tkub[0][1][0]+35);j++){
kir = j;
}
}
}
public void kanan2(){
ee1 = (tkub[0][0][0]+tkub[0][0][1])/2;
for(int i=ee1;i<=ee1;i++){
for(int j=tkub[0][1][3];j>=(tkub[0][1][3]-35);j--){
kan = j;
}
}
}
public void belakang2(){
de1 = (tkub[0][1][1]+tkub[0][1][2])/2;
for(int i=tkub[0][0][1];i<=(tkub[0][0][1]+35);i++){
for(int j=de1;j<=de1;j++){
bel = i;
}
}
}
public void depan3(){
ee2 = (tkub[0][0][1]+tkub[0][0][2])/2;
for(int i=ee2;i<=ee2;i+=1){
for(int j=tkub[0][1][0];j<=(tkub[0][1][0]+35);j++){
dep = j;
}
}
}
public void kiri3(){
de1 = (tkub[0][1][0]+tkub[0][1][1])/2;
for(int i=tkub[0][0][0];i<=(tkub[0][0][0]+35);i+=1){
for(int j=de1;j<=de1;j+=1){
kir = i;
}
}
}
public void kanan3(){
int de2 = (tkub[0][1][0]+tkub[0][1][1])/2;
for(int i=tkub[0][0][3];i>=(tkub[0][0][3]-35);i--){
for(int j=de2;j<=de2;j++){
kan = i;
}
}
}
public void belakang3(){
ee1 = (tkub[0][0][1]+tkub[0][0][2])/2;
for(int i=ee1;i<=ee1;i+=1){
for(int j=tkub[0][1][1];j>=(tkub[0][1][1]-35);j--){
bel = j;
}
}
}
//show picture destination
public void tukar(){
for(int i=0;i<r;i+=1){
tkot[0] = c+(int)kot[0];
tkot[1] = l-(int)kot[1];
}
pusat();
}
//show picture car
public void salin(){
for(int i=0;i<n;i+=1)
for(int j=0;j<m;j+=1){
tkub[0][j] = p+(int)kub[0][j]+(int)kub[2][j];
tkub[1][j] = q-(int)kub[1][j]+(int)kub[2][j];
}
ambil();
pusat1();
pst();
}
//for all position sensor pixcel
public void ambil(){
if(tkub[0][1][0] != tkub[0][1][1] && tkub[0][1][0] >< tkub[0][1][1]){
depan1();
kiri1();
kanan1();
belakang1();
}else
if(tkub[0][0][0]!=tkub[0][0][1] && tkub[0][0][0] > tkub[0][0][1]){
depan();
kiri();
kanan();
belakang();
}else
if(tkub[0][1][0]!=tkub[0][1][1] && tkub[0][1][0] > tkub[0][1][1]){
depan3();
kiri3();
kanan3();
belakang3();
}else
if(tkub[0][0][0]!=tkub[0][0][1] && tkub[0][0][0] < tkub[0][0][1]){
depan2();
kiri2();
kanan2();
belakang2();
}
}
//dot main for destination
public void pusat(){
v = tkot[0][0];
b = tkot[1][0];
}
//dot main for car
public void pusat1(){
cv = tkub[0][0][0];
cn = tkub[0][1][0];
}
//dot main for car too
public void pst(){
pstx = (tkub[0][0][0]+tkub[0][0][1])/2;
psty = (tkub[0][1][1]+tkub[0][1][2])/2;
}
//translation for car
public void trans(int f,int h){
/*for(int i=0;i<n;i+=1)
{for(int j=0;j<m;j+=1)
{
kub[0][j] += f;
kub[1][j] += h;
}
}*/
p =p+f;
q =q+h;
salin();
hub1();
}
//rotare car clock direction
public void rot(double d){
for(int i=0;i<n;i++)
{for(int j=0;j<m;j++)
{x = kub[0][j] * Math.cos(d) - kub[1][j] * Math.sin(d);
y = kub[0][j] * Math.sin(d) + kub[1][j] * Math.cos(d);
z = kub[2][j];
kub[0][j]=x; kub[1][j]=y; kub[2][j] = z;
}
}
salin();
}
// rotate car clock return
public void rot1(double a){
for(int i=0;i<n;i++)
{for(int j=0;j<m;j++)
{wa = kub[0][j] * Math.cos(a) + kub[1][j] * Math.sin(a);
qo = (-kub[0][j]) * Math.sin(a) + kub[1][j] * Math.cos(a);
u = kub[2][j];
kub[0][j]=wa; kub[1][j]=qo; kub[2][j] = u;
}
}
salin();
}
//build show
public void buat(){
setLayout(null);
mobil.setBounds(63,385,100,15);
target.setBounds(167,385,100,15);
ok.setBounds(267,383,63,20);
//putar.setBounds(328,383,63,20);
jalan.setBounds(480,383,63,20);
tmp.setBounds(167,400,100,15);
}
//show
public void tam(){
add(mobil);
add(target);
add(ok);
add(jalan);
//add(putar);
add(tmp);
}
//
public void init(){
setBackground(Color.white);
buat();
tam();
tos=false;
addMouseListener(this);
addMouseMotionListener(this);
tmp.setVisible(false);
}
//show map
public void map(Graphics2D g){
for(int i=0;i<n;i+=1){
g.setColor(Color.red);
g.fillPolygon(tkub[0],tkub[1],m);
}
}
//rotate half step
public void cob1(){
zx1=87;
zx2=70;
zx3=59;
zx4=60;
zx5=73;
zx6=90;
zx7=101;
zx8=100;
if(p><80){
b5 = 80 - p;
zx1 = zx1 - b5;
zx2 = zx2 - b5;
zx3 = zx3 - b5;
zx4 = zx4 - b5;
zx5 = zx5 - b5;
zx6 = zx6 - b5;
zx7 = zx7 - b5;
zx8 = zx8 - b5;
}else if(p>80){
b5 = p - 80;
zx1 = zx1 + b5;
zx2 = zx2 + b5;
zx3 = zx3 + b5;
zx4 = zx4 + b5;
zx5 = zx5 + b5;
zx6 = zx6 + b5;
zx7 = zx7 + b5;
zx8 = zx8 + b5;
}
}
public void cob2(){
a1=101;
a2=90;
a3=73;
a4=61;
a5=59;
a6=70;
a7=80;
a8=99;
if(p<80){
b5 = 80 - p;
a1 = a1 - b5;
a2 = a2 - b5;
a3 = a3 - b5;
a4 = a4 - b5;
a5 = a5 - b5;
a6 = a6 - b5;
a7 = a7 - b5;
a8 = a8 - b5;
}else if(p>80){
b5 = p - 80;
a1 = a1 + b5;
a2 = a2 + b5;
a3 = a3 + b5;
a4 = a4 + b5;
a5 = a5 + b5;
a6 = a6 + b5;
a7 = a7 + b5;
a8 = a8 + b5;
}
}
//rotate full step
public void cob3(){
zy1=71;
zy2=60;
zy3=89;
zy4=100;
if(p<80){
b5 = 80 - p;
zy1 = zy1 - b5;
zy2 = zy2 - b5;
zy3 = zy3 - b5;
zy4 = zy4 - b5;
}else if(p>80){
b5 = p - 80;
zy1 = zy1 + b5;
zy2 = zy2 + b5;
zy3 = zy3 + b5;
zy4 = zy4 + b5;
}
}
public void cob4(){
zk1=90;
zk2=60;
zk3=70;
zk4=100;
if(p<80){
b5 = 80 - p;
zk1 = zk1 - b5;
zk2 = zk2 - b5;
zk3 = zk3 - b5;
zk4 = zk4 - b5;
}else if(p>80){
b5 = p - 80;
zk1 = zk1 + b5;
zk2 = zk2 + b5;
zk3 = zk3 + b5;
zk4 = zk4 + b5;
}
}
//show graph
public void paint(Graphics s){
Graphics2D g = (Graphics2D) s;
map(g);
cek1();
s.setColor(Color.black);
s.fillRect(r1,r2,r3,t4);//mejautama
s.fillRect(t1,t2,t3,t4);//bangku
s.fillRect(u1,u2,u3,u4);//kursi3
s.fillRect(b1,b2,b3,b4);//meja2
s.fillRect(e1,e2,e3,e4);//meja
s.fillRect(o1,o2,o3,o4);//kursi2
s.fillRect(i1,i2,i3,i4);//kursi 1
s.fillRect(v1,v2,v3,v4);// aquarium
s.drawRect(5,5,557,279);// x = 12 pixel y = 12 pixel
s.setColor(Color.blue);
s.fillPolygon(tkot[0],tkot[1],r);
s.drawRect(50,365,510,50);
mobil.addItemListener(this);
target.addItemListener(this);
ok.addActionListener(this);
jalan.addActionListener(this);
//putar.addActionListener(this);
tmp.addItemListener(this);
}
//radio button
public void itemStateChanged(ItemEvent qw){
if(tos){
if(aj.equals("Tampil Target")){
kot();
}
if(aj.equals("Tampil Mobil")){
kotak();
}
}
repaint();
}
//mouse function
public void mouseMoved(MouseEvent ex) {
showStatus("posisi " + ex.getX() + "," + ex.getY()+ " " + dep+" "+kir+" "+kan+" "+bel+""+l1+l2+l3+l4);
}
public void mousePressed(MouseEvent ez) {
xx=ez.getX();
yy=ez.getY();
aj = h.getSelectedCheckbox().getLabel();
if(aj.equals("Tampil Target")) {
kot();
tos = true;
repaint();
}else if(aj.equals("Tampil Mobil")) {
kotak();
tos = true;
repaint();
}
}
public void mouseReleased(MouseEvent e) {
tos=false;
}
public void mouseEntered(MouseEvent ea) {}
public void mouseClicked(MouseEvent es) {}
public void mouseExited(MouseEvent ee) {}
public void mouseDragged(MouseEvent eq){}
//aktif button
public void actionPerformed(ActionEvent io){
kh = io.getActionCommand();
aj = h.getSelectedCheckbox().getLabel();
if(kh.equals("OK")){
mobil.getState();
mobil.setEnabled(false);
target.getState();
target.setEnabled(false);
tmp.setState(true);
//putar.setEnabled(false);
/*}else
if(kh.equals("Putar")){
rot(Math.PI/2);*/
}else
if(kh.equals("Jalan")){
hub1();
}
repaint();
}
/*public control(){
portList = CommPortIdentifier.getPortIdentifiers();
while (portList.hasMoreElements()) {
portId = (CommPortIdentifier) portList.nextElement();
if (portId.getPortType() == CommPortIdentifier.PORT_SERIAL) {
if (portId.getName().equals("COM2")) {
try {
serialPort = (SerialPort)portId.open("controlApp", 3000);
} catch (PortInUseException ef){}
}
}
}
try {
outputStream = serialPort.getOutputStream();
} catch (IOException el){
if(serialPort!=null)
serialPort.close();
}
try {
serialPort.setSerialPortParams(9600,
SerialPort.DATABITS_8,
SerialPort.STOPBITS_1,
SerialPort.PARITY_NONE);
serialPort.setFlowControlMode(SerialPort.FLOWCONTROL_NONE);
} catch (UnsupportedCommOperationException es){
if(serialPort != null)
serialPort.close();
}
send(msg);
}
public void send(String msg){
String msg1=msg;
try {
outputStream.write(msg1.getBytes());
//outputStream.flush();
}catch (IOException em) {}
}*/
//program utama
public static void main (String args[]){
Frame f = new Frame("KONTROL MOBIL");
control co = new control();
f.resize(650,450);
f.add("Center",co);
f.show();
co.init();
}
}
