Uso del touch-sensor sull’NXT

import lejos.nxt.Button;
import lejos.nxt.Motor;
import lejos.nxt.SensorPort;
import lejos.nxt.TouchSensor;
import lejos.robotics.navigation.DifferentialPilot;
import lejos.util.Delay;

public class ProvaTouch {

	public static void main(String[] args) {
		TouchSensor ts = new TouchSensor(SensorPort.S4);

		DifferentialPilot dp = new DifferentialPilot(5.5, 11.5, Motor.A, Motor.C);
		dp.forward();

		do {
			if (ts.isPressed()) {
				dp.backward();
				Delay.msDelay(500);
				dp.rotate(180);
				dp.forward();
			}
		} while (!Button.ESCAPE.isDown());

		dp.stop();
	}
}