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## Example files for the title:  

# The Unofficial Guide to LEGO MINDSTORMS Robots, by Jonathan Knudsen

[![The Unofficial Guide to LEGO MINDSTORMS Robots, by Jonathan Knudsen](http://akamaicovers.oreilly.com/images/9781565926929/cat.gif)](https://www.safaribooksonline.com/)

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import java.io.*;

import java.util.*;

import javax.comm.*;

public class Download {

  public static void main(String[] args) {

    String filename = args[args.length - 1];

    String portName = "COM1";

    for (int i = 0; i < args.length - 2; i++) {

      if (args[i].equals("-port")) portName = args[i + 1];

    }

    try { new Download(filename, portName); }

    catch (NoSuchPortException nspe) {

      System.out.println("Sorry, I don't know about the " +

          portName + " port.");

    }

    catch (PortInUseException piue) {

      System.out.println("Sorry, somebody else is using " +

          portName + ".");

    }

    catch (UnsupportedCommOperationException ucoe) {

      System.out.println(ucoe);

    }

    catch (IOException ioe) {

      System.out.println("An IOException occurred: " + ioe);

    }

  }

  private SerialPort mPort;

  private Reader mFileIn;

  private Writer mOut;

  private PortListener mPortListener;

  private static final int kCharSleep = 20;

  private static final int kTimeOut = 800;

  public Download(String filename, String portName)

      throws NoSuchPortException, PortInUseException,

      UnsupportedCommOperationException, IOException {

    initialize(portName);

    mFileIn = new FileReader(filename);

    run();

  }

  protected void initialize(String portName)

      throws NoSuchPortException, PortInUseException,

      UnsupportedCommOperationException, IOException {

    CommPortIdentifier id =

        CommPortIdentifier.getPortIdentifier(portName);

    mPort = (SerialPort)id.open("Download", 1000);

    mPort.setSerialPortParams(

        2400,

        SerialPort.DATABITS_8,

        SerialPort.STOPBITS_1,

        SerialPort.PARITY_NONE

    );

    Reader in = new InputStreamReader(mPort.getInputStream());

    mPortListener = new PortListener(in);

    mOut = new OutputStreamWriter(mPort.getOutputStream());

  }

  public void run() {

    int c, n = 1;

    try {

      sendReturn();

      sendReturn();

      while ((c = mFileIn.read()) != -1) {

        if (c == '\r') {

          sendReturn();

          if (mPortListener.isComplete() == false) {

            throw new DownloadException("Timed out waiting " +

                "for a response from the RCX.");

          }

          else if (mPortListener.isError() == true) {

            throw new DownloadException("Error: " + 

                mPortListener.getLastLine());

          }

          System.out.print(".");

          n++;

        }

        else if (c != '\n') {

          mPortListener.reset();

          mOut.write(c);

          mOut.flush();

          Thread.sleep(kCharSleep);

        }

      }

      sendReturn();

      sendReturn();

    }

    catch (InterruptedException ie) { System.out.println(ie); }

    catch (DownloadException de) {

      System.out.println();

      System.out.println("Line " + n + ":");

      System.out.println("  " + de.getMessage());

    }

    catch (IOException ioe) { System.out.println(ioe); }

    // Regardless of what happened, try to clean up.

    try {

      mPortListener.stop();

      mFileIn.close();

      mOut.close();

      mPort.close();

    }

    catch (IOException ioe) {}

    System.exit(0);

  }

  protected void sendReturn() throws IOException, InterruptedException {

    mOut.write('\r');

    mOut.flush();

    Thread.sleep(kCharSleep);

    // Wait for response, or time out.

    long savedTime = System.currentTimeMillis();

    boolean trucking = true;

    while (trucking) {

      if (mPortListener.isComplete()) trucking = false;

      long currentTime = System.currentTimeMillis();

      if (currentTime - savedTime > kTimeOut) trucking = false;

      Thread.sleep(20);

    }

  }

  public class PortListener

      implements Runnable {

    private Thread mThread;

    private BufferedReader mIn;

    private boolean mComplete = false;

    private boolean mError = false;

    private String mLastLine;

    public PortListener(Reader in) {

      mIn = new BufferedReader(in);

      mThread = new Thread(this);

      mThread.start();

    }

    public void run() {

      String line;

      try {

        while((line = mIn.readLine()) != null) {

          line = line.trim();

          mLastLine = line;

          if (line.indexOf("ok") != -1) mComplete = true;

          if (line.indexOf("redefine") != -1) mComplete = true;

          if (line.indexOf("undefined") != -1) mComplete = mError = true;

          if (line.length() == 0) mComplete = true;

        }

      }

      catch (IOException ioe) {

        System.out.println("PortListener: ioe " + ioe);

      }

    }

    public void stop() throws IOException {

      mThread.interrupt();

    }

    public void reset() { mComplete = false; mError = false; }

    public boolean isComplete() { return mComplete; }

    public boolean isError() { return mError; }

    public String getLastLine() { return mLastLine; }

  }

  public class DownloadException

      extends IOException {

    public DownloadException(String message) { super(message); }

  }

}

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#define BACK_TIME 50

#define TURN_TIME 80

task main() {

  SetSensor(SENSOR_1, SENSOR_TOUCH);

  SetSensor(SENSOR_3, SENSOR_TOUCH);

  OnFwd(OUT_A + OUT_C);

  while (true) {

    if (SENSOR_1 == 1) {

      PlayTone(440, 50);

      OnRev(OUT_A + OUT_C);

      Wait(BACK_TIME);

      OnFwd(OUT_A);

      Wait(TURN_TIME);

      OnFwd(OUT_C);

    }

    if (SENSOR_3 == 1) {

      PlayTone(880, 50);

      OnRev(OUT_A + OUT_C);

      Wait(BACK_TIME);

      OnFwd(OUT_C);

      Wait(TURN_TIME);

      OnFwd(OUT_A);

    }

  }

}