added stuff

1 files changed, 129 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/BumpTurn.java b/roombacomm-client/src/com/hackingroomba/roombacomm/BumpTurn.java
new file mode 100644
index 0000000..3618d0a
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/BumpTurn.java
@@ -0,0 +1,129 @@
+/*
+ * roombacomm.BumpTurn -- turn away from bumps
+ *
+ *  Copyright (c) 2006 Tod E. Kurt, tod@todbot.com, ThingM
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation; either
+ *  version 2.1 of the License, or (at your option) any later version.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General
+ *  Public License along with this library; if not, write to the
+ *  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+ *  Boston, MA  02111-1307  USA
+ *
+ */
+
+package com.hackingroomba.roombacomm;
+
+import java.io.*;
+
+/**
+   Read sensors to detect bumps and turn away from them while driving
+   <p>
+   Run it with something like: <pre>
+    java roombacomm.BumpTurn /dev/cu.KeySerial1<br>
+   Usage: 
+   roombacomm.Drive serialportname [protocol] [options]
+   where:
+   protocol (optional) is SCI or OI
+   [options] can be one or more of:
+   -debug       -- turn on debug output
+   -hwhandshake -- use hardware-handshaking, for Windows Bluetooth
+   -nohwhandshake -- don't use hardware-handshaking
+   </pre>
+ 
+*/ 
+public class BumpTurn {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.Drive <serialportname> [protocol]" +
+        "" +
+        " [options]\n" +
+        "where protocol (optional) is SCI or OI and [options] can be one or more of:\n"+
+        " -debug       -- turn on debug output\n"+
+        " -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n"+
+        "nohwhandshake -- don't use hardware-handshaking" +
+        "\n";
+    static boolean debug = false;
+    static boolean hwhandshake = false;
+
+    public static void main(String[] args) {
+        if( args.length < 1 ) {
+            System.out.println( usage );
+            System.exit(0);
+        }
+
+        String portname = args[0];  // e.g. "/dev/cu.KeySerial1"
+        RoombaCommSerial roombacomm = new RoombaCommSerial();
+        for( int i=1; i < args.length; i++ ) {
+        	if (args[i].equals("SCI") || (args[i].equals("OI"))) {
+        		roombacomm.setProtocol(args[i]);
+        	} else if( args[i].endsWith("debug") )
+                debug = true;
+            else if( args[i].endsWith("nohwhandshake") )
+                roombacomm.setWaitForDSR(false);
+            else if( args[i].endsWith("hwhandshake") )
+                roombacomm.setWaitForDSR(true);
+        }
+
+        roombacomm.debug = debug;
+
+        if( ! roombacomm.connect( portname ) ) {
+            System.out.println("Couldn't connect to "+portname);
+            System.exit(1);
+        }      
+        
+        System.out.println("Roomba startup");
+        roombacomm.startup();
+        roombacomm.control();
+        roombacomm.pause(100);
+
+        roombacomm.updateSensors();
+
+        System.out.println("Press return to exit.");
+        boolean done = false;
+        while( !done ) {
+            if( roombacomm.bumpLeft() ) {
+                roombacomm.spinRight(90);
+            }
+            else if( roombacomm.bumpRight() ) {
+                roombacomm.spinLeft(90);
+            }
+            else if( roombacomm.wall() ) { 
+                roombacomm.playNote( 72,10 );  // beep!
+            }
+            roombacomm.goForward();
+            roombacomm.updateSensors();
+            
+            done = keyIsPressed();
+        }
+        
+        roombacomm.stop();
+
+        System.out.println("Disconnecting");
+        roombacomm.disconnect();
+        
+        System.out.println("Done");
+    }
+
+    /** check for keypress, return true if so */
+    public static boolean keyIsPressed() {
+        boolean press = false;
+        try { 
+            if( System.in.available() != 0 ) {
+                System.out.println("key pressed");
+                press = true;
+            }
+        } catch( IOException ioe ) { }
+        return press;
+    }
+}
+