added stuff

1 files changed, 105 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/LogoA.java b/roombacomm-client/src/com/hackingroomba/roombacomm/LogoA.java
new file mode 100644
index 0000000..cbb9ddf
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/LogoA.java
@@ -0,0 +1,105 @@
+/*
+ * roombacomm.LogoA
+ *
+ *  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;
+
+/**
+ Some example Logo-like things to do
+ <p>
+ Run it with something like: <pre>
+  java roombacomm.LogoA /dev/cu.KeySerial1<br>
+ Usage: 
+ roombacomm.LogoA serialportname [protocol] [options]<br>
+ where:
+ protocol (optional) is SCI or OI
+ [options] can be one or more of:
+  -debug       -- turn on debug output
+ </pre>
+ 
+*/ 
+public class LogoA {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.LogoA <serialportname> [options]\n" +
+        "where protocol (optional) is SCI or OI\n"+
+        "[options] can be one or more of:\n"+
+        " -debug       -- turn on debug output\n"+
+        "\n";
+    static boolean debug = false;
+
+    public static void main(String[] args) {
+        if( args.length == 0 ) {
+            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;
+        }
+        
+        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(30);
+        
+        for( int i=0; i<8; i++ ) {
+            roombacomm.spinRight( 45 );
+            square( roombacomm, 100 );
+        }
+        
+        System.out.println("Disconnecting");
+        roombacomm.disconnect();
+        
+        System.out.println("Done");
+    }
+
+    /**
+     * Make a square with a Roomba.
+     * Leaves Roomba in same place it began (theoretically)
+     * @param rc RoombaComm object connected to a Roomba
+     * @param size size of square in mm
+     */
+    public static void square(RoombaComm rc, int size) {
+        rc.goForward( size );  
+        rc.spinLeft( 90 );
+        rc.goForward( size );
+        rc.spinLeft( 90 );
+        rc.goForward( size );
+        rc.spinLeft( 90 );
+        rc.goForward( size );
+        rc.spinLeft( 90 );
+    }
+}
+