偵測車輛：探測取料區前方是否有搬運車，並回應給中控主機，同時通知

取料區的卸貨時機和閘門升降時機。

中控主機：接收電腦控制端指令，再將指令透過訊號發送傳達給取料區各

裝置做出相對應的作業。

出貨口：根據接收到訊息，控制出貨裝置送出正確的貨物數量。

閘門系統：閘門能阻止車輛前進，當車輛完成取貨動作，閘門就會開啟，直到車輛通過後再次關閉。

import lejos.nxt.*;
import lejos.nxt.Button;
import lejos.nxt.LCD;
import lejos.nxt.MotorPort;
import lejos.nxt.NXTMotor;
import lejos.nxt.SensorPort;
import lejos.nxt.addon.NXTLineLeader;
import lejos.util.Delay;
import lejos.nxt.addon.ColorHTSensor;
import lejos.nxt.addon.*;
import java.io.*;
import lejos.nxt.comm.*;
import lejos.util.Delay;
import lejos.nxt.comm.*;

class factories{
    static UltrasonicSensor us1 = new UltrasonicSensor(SensorPort.S1);
    static UltrasonicSensor us2 = new UltrasonicSensor(SensorPort.S2);
    static NXTMotor MotorA = new NXTMotor(MotorPort.A);
    static NXTMotor MotorB = new NXTMotor(MotorPort.B);
    static NXTMotor MotorC = new NXTMotor(MotorPort.C);
    static int red,blue,a;
    public static void main(String arg[]){
          Button.ESCAPE.addButtonListener(new ButtonListener(){
             public void buttonPressed(Button b){System.exit(1);}
             public void buttonReleased(Button b) {}
           });
               factories fa=new factories();
        LCD.drawString("Waiting...", 0, 0);
               NXTConnection connection = Bluetooth.waitForConnection(); //µ¥«Ý³s½u
        DataInputStream dataIn = connection.openDataInputStream();//¨ú±o¿é¤J¦ê¬y
        DataOutputStream dataOut =connection.openDataOutputStream();
        LCD.drawString("OK...", 0, 0);
        try{
                 while(true){
                a = dataIn.read();
                red=dataIn.read();
                blue=dataIn.read();
            if(a==1){
                fa.factories(red,blue);
                LCD.drawString("ok", 0, 1);
       }
    }
  }catch(IOException e) {System.exit(1);}
}
   public void factories(int blue ,int red){
           while (!Button.ESCAPE.isDown()){ 
            int sound1;
            int sound2;
            sound1 = us1.getDistance();
            sound2 = us2.getDistance();
        if(sound1<=20||sound2<=20){
            Delay.msDelay(2000);
            for(int i=1;i<=red;i++){
                Motor.A.setSpeed(0);
                Motor.B.setSpeed(795);
                Motor.B.backward();
                MotorC.setPower(0);
                Delay.msDelay(431);
                Motor.A.setSpeed(0);
                Motor.B.setSpeed(0);
                Motor.C.setSpeed(0);
                Delay.msDelay(100);
        }
            Motor.A.setSpeed(0);
            Motor.B.setSpeed(0);
            Motor.C.setSpeed(0);
            Delay.msDelay(100);
            for(int j=1;j<=blue;j++){
                Motor.A.setSpeed(0);
                Motor.B.setSpeed(0);
                Motor.C.setSpeed(795);
                Motor.C.backward();
                Delay.msDelay(431);
                Motor.A.setSpeed(0);
                Motor.B.setSpeed(0);
                Motor.C.setSpeed(0);
                Delay.msDelay(100);
    }
            Motor.A.setSpeed(390);
            Motor.A.forward();
            Motor.B.setSpeed(0);
            Motor.C.setSpeed(0);
            Delay.msDelay(270);
//----------------------------------------------------
            Motor.A.setSpeed(0);
            Motor.B.setSpeed(0);
            Motor.C.setSpeed(0);
            Delay.msDelay(4500);
            Motor.A.setSpeed(390);
            Motor.A.backward();
            Motor.B.setSpeed(0);
            Motor.C.setSpeed(0);
            Delay.msDelay(270);
            break;
        }
       }
   }
}