added stuff

1 files changed, 1854 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommPanel.java b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommPanel.java
new file mode 100644
index 0000000..9ccdd0e
--- /dev/null
+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/RoombaCommPanel.java
@@ -0,0 +1,1854 @@
+/*
+ * RoombaCommPanel - 
+ * 
+ *  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.awt.Dimension;
+import java.awt.GridBagConstraints;
+import java.awt.GridBagLayout;
+import java.awt.GridLayout;
+import java.awt.Insets;
+import java.awt.event.ActionEvent;
+import java.awt.event.ActionListener;
+import java.awt.event.FocusAdapter;
+import java.awt.event.FocusEvent;
+import java.awt.event.KeyEvent;
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Date;
+
+import javax.swing.BorderFactory;
+import javax.swing.BoxLayout;
+import javax.swing.ButtonGroup;
+import javax.swing.ImageIcon;
+import javax.swing.JButton;
+import javax.swing.JCheckBox;
+import javax.swing.JComboBox;
+import javax.swing.JLabel;
+import javax.swing.JPanel;
+import javax.swing.JRadioButton;
+import javax.swing.JScrollPane;
+import javax.swing.JSlider;
+import javax.swing.JTabbedPane;
+import javax.swing.JTextArea;
+import javax.swing.JTextField;
+import javax.swing.JTextPane;
+import javax.swing.border.TitledBorder;
+import javax.swing.event.ChangeEvent;
+import javax.swing.event.ChangeListener;
+import javax.swing.text.DefaultCaret;
+
+/**
+ * A Panel containing controls for testing RoombaComm. Normally put inside of a
+ * frame, for example see RoombaCommTest
+ * 
+ * SVN id value is $Id: RoombaCommPanel.java 136 2010-04-06 00:07:23Z black.123 $
+ */
+public class RoombaCommPanel extends JPanel implements ActionListener,
+		ChangeListener {
+
+	private static final long serialVersionUID = 1L;
+
+	{
+		// Set Look & Feel
+		try {
+			javax.swing.UIManager.setLookAndFeel("javax.swing.plaf.metal.MetalLookAndFeel");
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+	}
+  
+	JPanel ctrlPanel, selectPanel, buttonPanel, displayPanel, ledPanel;
+	private JTextPane jTextPane1;
+	private JPanel jPanelPower;
+	private JPanel jPanelVacuum;
+	private JPanel jPanelSensors;
+	private JPanel jPanelTestPrograms;
+	JComboBox portChoices;
+	JComboBox protocolChoices;
+	JCheckBox handshakeButton;
+	JTextArea displayText;
+	JButton connectButton;
+	JButton netButton;
+	JSlider speedSlider, powerColorSlider, powerColorIntensity;
+	private boolean debug = false;
+	boolean tribbleOn = false;
+	// default values for flags for LEDs
+	boolean redOn = false;
+	boolean greenOn = false;
+	boolean toggleSpot = false;
+	boolean toggleClean = false;
+	boolean toggleMax = false;
+	boolean toggleDirt = false;
+	boolean toggleCheckRobot = false;
+	boolean toggleDock = false;
+	private JPanel jPanelSounds;
+	private JPanel jPanelModes;
+	private JPanel jPanel3;
+	private JPanel jPanel2;
+	private JLabel jLabelCOMM;
+	private JTextField jTextFieldPort;
+	private JLabel jLabelPort;
+	private JPanel jPanel1;
+	private JTextField jTextFieldHost;
+	private JLabel jLabelHost;
+	private JPanel jPanelConfigSerial;
+	private JPanel jPanelConfigNet;
+	private JTabbedPane jTabbedPanelConfig;
+	private JButton jButton4;
+	private JButton jButton3;
+	private JButton jButton2;
+	private JButton jButton1;
+	int power_color = 0;
+	int power_int = 0;
+	RoombaCommSerial roombaCommSerial;
+	RoombaComm roombaComm;
+	RoombaCommTCPClient roombaCommTCPClient;
+	SimpleDateFormat formatter = new SimpleDateFormat(
+			"EEE, dd-MMM-yyyy HH:mm:ss");
+	public RoombaCommPanel() {
+		this(false);
+	}
+
+	public RoombaCommPanel(boolean debug) {
+//		super(new BorderLayout());
+		super();
+//		this.setContentPane(contentPane)
+		System.out.println("RoombaCommPanel-start");
+		System.out.println(" debug is ("+debug+")");
+		initialize();
+		roombaCommSerial = new RoombaCommSerial();
+		roombaCommTCPClient = new RoombaCommTCPClient();
+		this.debug = debug;
+		roombaCommSerial.debug = debug;
+		roombaCommTCPClient.debug = debug;
+		System.out.println("RoombaCommPanel-makePanels-start");
+		makePanels();
+		System.out.println("RoombaCommPanel-makePanels-end");
+		System.out.println("RoombaCommPanel-end");
+	}
+
+	/**
+	 * This method initializes this
+	 * 
+	 */
+	private void initialize() {
+		Dimension defaultSize = new Dimension(800,600); 
+        this.addComponentListener(new java.awt.event.ComponentListener() {
+        	public void componentResized(java.awt.event.ComponentEvent e) {
+        		System.out.println("147-componentResized("+e.getComponent().getWidth()+","+e.getComponent().getHeight()+")"); // TODO Auto-generated Event stub componentResized()
+        	}
+        	public void componentMoved(java.awt.event.ComponentEvent e) {
+        	}
+        	public void componentShown(java.awt.event.ComponentEvent e) {
+        	}
+        	public void componentHidden(java.awt.event.ComponentEvent e) {
+        	}
+        });
+        System.out.println("initialize : setting size to (" +defaultSize.getWidth()+","+defaultSize.getHeight()+")");
+        GridBagLayout thisLayout = new GridBagLayout();
+        this.setSize(defaultSize);
+        thisLayout.rowWeights = new double[] {0.0, 0.0, 0.1};
+        thisLayout.rowHeights = new int[] {137, 304, 5};
+        thisLayout.columnWeights = new double[] {0.0, 0.0};
+        thisLayout.columnWidths = new int[] {538, 206};
+        this.setLayout(thisLayout);
+        this.setPreferredSize(new java.awt.Dimension(800, 600)); //638
+//        {
+//        	buttonPanel = new JPanel();
+//        	this.add(buttonPanel, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+//        	GridBagLayout buttonPanelLayout = new GridBagLayout();
+//        	buttonPanelLayout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1};
+//        	buttonPanelLayout.rowHeights = new int[] {7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7};
+//        	buttonPanelLayout.columnWeights = new double[] {0.0, 0.0};
+//        	buttonPanelLayout.columnWidths = new int[] {10, 10};
+//        	buttonPanel.setLayout(buttonPanelLayout);
+//        	buttonPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Commands"),BorderFactory.createEmptyBorder(5,5,5,5)));
+//        	buttonPanel.setMinimumSize(new java.awt.Dimension(0,10));
+//        	buttonPanel.setSize(200, 411);
+//        	buttonPanel.setPreferredSize(new java.awt.Dimension(242, 249));
+//        }
+	}
+
+	/**
+	 * Set to 'false' to hide the "h/w handshake" button, which seems to be only
+	 * needed on Windows
+	 */
+	public void setShowHardwareHandhake(boolean b) {
+		handshakeButton.setVisible(b);
+	}
+
+	/** */
+	public boolean connect() {
+		System.out.println("connect-start");
+		String portname = (String) portChoices.getSelectedItem();
+		// roombacomm.debug=true;
+		roombaCommSerial.setWaitForDSR(handshakeButton.isSelected());
+		int i = protocolChoices.getSelectedIndex();
+		roombaCommSerial.setProtocol((i == 0) ? "SCI" : "OI");
+		if (portname == null){
+			// I guess we do not yet have ports so refresh the list
+			setCommPorts();
+		}
+		updateDisplay("connecting to " + portname + "\n");
+		connectButton.setText("connecting");
+		if (portname != null){
+			if (!roombaCommSerial.connect(portname)) {
+				updateDisplay("Couldn't connect to " + portname + "\n");
+				connectButton.setText("  connect  ");
+			// 	roombacomm.debug=false;
+				System.out.println("connect-end (could not connect)");
+				return false;
+			}else{
+				updateDisplay("connected to " + portname + "\n");
+			}
+		}else{
+			updateDisplay("you must first select a COMM port to use before you can attempt to connect");
+			jTabbedPanelConfig.setSelectedIndex(1);
+			return false;
+		}
+		updateDisplay("Roomba startup\n");
+
+		roombaCommSerial.startup();
+		roombaCommSerial.control();
+		roombaCommSerial.playNote(72, 10); // C , test note
+		roombaCommSerial.pause(200);
+
+		connectButton.setText("disconnect");
+		connectButton.setActionCommand("disconnect");
+		roombaComm = roombaCommSerial;
+		// roombacomm.debug=true;
+		updateDisplay("Checking for Roomba... ");
+			if (roombaCommSerial.updateSensors()) {
+				updateDisplay("Roomba found!\n");
+				System.out.println("connect-end");
+				return true;
+			}else{
+				updateDisplay("No Roomba. :(  Is it turned on?\n");
+				System.out.println("connect-end");
+				return true ;
+			}
+		}
+
+	public boolean connectNet(String portname) {
+		System.out.println("connectNet called");
+		int i = protocolChoices.getSelectedIndex();
+		if (roombaCommTCPClient == null){
+			roombaCommTCPClient = new RoombaCommTCPClient();
+			roombaCommTCPClient.setConnected(false);
+		}
+		roombaCommTCPClient.setProtocol((i == 0) ? "SCI" : "OI");
+
+		if (!roombaCommTCPClient.connect(portname)) {
+			updateDisplay("Couldn't connect to " + portname);
+			return false;
+		}
+
+		updateDisplay("Roomba startup on port " + portname);
+		roombaCommTCPClient.startup();
+		roombaCommTCPClient.control();
+		// roombacomm.setSensorsAutoUpdate(true);
+		roombaCommTCPClient.pause(30);
+
+		updateDisplay("Checking for Roomba... \n");
+		// roombaCommTCPClient.setDebug(true);
+		if (roombaCommTCPClient.updateSensors()) {
+			updateDisplay("Roomba found!\n");
+			updateDisplay(roombaCommTCPClient.getSensorsAsString());
+		} else {
+			updateDisplay("No Roomba. :(  Is it turned on?\n");
+		}
+		updateDisplay("buffer is(" + roombaCommTCPClient.getBuffer() + ")",
+				this.debug);
+		// roombaCommTCPClient.setDebug(false);
+		// roombacomm.updateSensors();
+		updateDisplay("connected (" + roombaCommTCPClient.connected() + ")\n");
+		if (roombaCommTCPClient.connected()) {
+			updateDisplay("Playing some notes\n");
+			roombaCommTCPClient.playNote(72, 10); // C
+			roombaCommTCPClient.pause(200);
+			roombaCommTCPClient.playNote(79, 10); // G
+			roombaCommTCPClient.pause(200);
+			roombaCommTCPClient.playNote(76, 10); // E
+			roombaCommTCPClient.pause(200);
+			netButton.setText("disconnect-net");
+			netButton.setActionCommand("disconnect-net");
+			roombaComm = roombaCommTCPClient; // set the pointer so that the
+												// action stuff can work against
+												// any class
+		}
+
+		// roombaCommSerial.setWaitForDSR(handshakeButton.isSelected());
+		//        
+		//        
+		// connectButton.setText("connecting");
+		// if( ! roombaCommSerial.connect( portname ) ) {
+		// updateDisplay("Couldn't connect to "+portname+"\n");
+		// connectButton.setText("  connect  ");
+		// //roombacomm.debug=false;
+		// return false;
+		// }
+		// updateDisplay("Roomba startup\n");
+		//
+		// roombaCommSerial.startup();
+		// roombaCommSerial.control();
+		// roombaCommSerial.playNote( 72, 10 ); // C , test note
+		// roombaCommSerial.pause( 200 );
+		//
+		// connectButton.setText("disconnect");
+		// connectButton.setActionCommand("disconnect");
+		// //roombacomm.debug=true;
+		// updateDisplay("Checking for Roomba... ");
+		// if( roombaCommSerial.updateSensors() )
+		// updateDisplay("Roomba found!\n");
+		// else
+		// updateDisplay("No Roomba. :(  Is it turned on?\n");
+
+		return true;
+	}
+
+	/** */
+	public void disconnect() {
+		roombaCommSerial.disconnect();
+		connectButton.setText("  connect  ");
+		connectButton.setActionCommand("connect");
+	}
+
+	public void disconnectNet() {
+		roombaCommTCPClient.disconnect();
+		netButton.setText("  net  ");
+		netButton.setActionCommand("net");
+	}
+
+	/**
+	 * Play a (MIDI) note, that is, make the Roomba a musical instrument
+	 * notenums 32-127: notenum == corresponding note played thru beeper
+	 * velocity == duration in number of 1/64s of a second (e.g. 64==1second)
+	 * notenum 24: notenum == main vacuum velocity == non-zero turns on, zero
+	 * turns off notenum 25: blink LEDs, velcoity is color of Power notenum 28 &
+	 * 29: spin left & spin right, velocity is speed
+	 * 
+	 */
+	public void playMidiNote(int notenum, int velocity) {
+		updateDisplay("play note: " + notenum + "," + velocity + "\n");
+		if (!roombaCommSerial.connected())
+			return;
+
+		if (notenum >= 31) { // G and above
+			if (velocity == 0)
+				return;
+			if (velocity < 4)
+				velocity = 4; // has problems at lower durations
+			else
+				velocity = velocity / 2;
+			roombaCommSerial.playNote(notenum, velocity);
+		} else if (notenum == 24) { // C
+			roombaCommSerial.vacuum(!(velocity == 0));
+		} else if (notenum == 25) { // C#
+			boolean lon = (velocity != 0);
+			int inten = (lon) ? 255 : 128; // either full bright or half bright
+			roombaCommSerial.setLEDs(lon, lon, lon, lon, lon, lon,
+					velocity * 2, inten);
+		} else if (notenum == 28) { // E
+			if (velocity != 0)
+				roombaCommSerial.spinLeftAt(velocity * 2);
+			else
+				roombaCommSerial.stop();
+		} else if (notenum == 29) { // F
+			if (velocity != 0)
+				roombaCommSerial.spinRightAt(velocity * 2);
+			else
+				roombaCommSerial.stop();
+		}
+	}
+
+	/** implement actionlistener */
+	public void actionPerformed(ActionEvent event) {
+		String action = event.getActionCommand();
+		updateDisplay(formatter.format(new Date()) + ": action (" + action
+				+ ") happened\n", this.debug);
+		// roombacomm.setLEDs(false, false, false, false, false, false, 0, 0);
+		if ("comboBoxChanged".equals(action)) {
+//			String portname = (String) portChoices.getSelectedItem();
+			int i = protocolChoices.getSelectedIndex();
+			if (roombaComm != null) {
+				roombaComm.setProtocol((i == 0) ? "SCI" : "OI");
+			} else {
+				updateDisplay(
+						formatter.format(new Date())
+								+ ": null roombaComm object found in actionPerformed\n",
+						this.debug);
+			}
+			return;
+		}
+		// updateDisplay(action+"\n");
+		if ("net".equals(action)) {
+			if (jTextFieldHost != null && jTextFieldHost.getText() != null && jTextFieldPort != null && jTextFieldPort.getText() != null){
+				if(connectNet(jTextFieldHost.getText()+":"+jTextFieldPort.getText())){
+					// TODO: find a way to hide/disable the other connect tab until the session is disconnected
+//					getJTabbedPanelConfig().getComponentAt(1).setVisible(false); // hide the Serial tab while we are connected with a Net port
+				}else{
+					// TODO: reenable/show the other tab(s)
+//					getJTabbedPanelConfig().getComponentAt(0).setVisible(true); // make sure the net tab is not hidden when we fail to connect
+				}
+				
+			}else{
+				updateDisplay("connect (via net) pressed with missing values:");
+				if (jTextFieldHost != null && jTextFieldHost.getText() != null){
+					updateDisplay(" host :"+jTextFieldHost.getText());
+				}else{
+					updateDisplay(" host : MISSING VALUE");
+				}
+				if (jTextFieldPort != null && jTextFieldPort.getText() != null){
+					updateDisplay(" port :"+jTextFieldPort.getText());
+				}else{
+					updateDisplay(" port : MISSING VALUE");
+				}
+			}
+			return;
+		} else if ("disconnect-net".equals(action)) {
+			disconnectNet();
+			// TODO: reenable/show the other tab(s)
+//			getJTabbedPanelConfig().getComponentAt(1).setVisible(true); // show the serial tab while we disconnect from the net
+			return;
+		}
+		if ("connect".equals(action)) {
+			if (connect()){
+				// TODO: find a way to hide/disable the other connect tab until the session is disconnected				
+			}else{
+				// TODO: reenable/show the other tab(s)
+//				getJTabbedPanelConfig().getComponentAt(0).setEnabled(true); // make sure the net tab is not hidden when we fail to connect
+//				getJTabbedPanelConfig().repaint(100);
+			}
+			return;
+		} else if ("disconnect".equals(action)) {
+			disconnect();
+			// TODO: reenable/show the other tab(s)
+//			getJTabbedPanelConfig().getComponentAt(0).setEnabled(true); // show the net tab while we disconnect from the serial
+			return;
+		}
+		// stop right here if we're not connected
+		if (roombaComm == null || !roombaComm.connected()) {
+			updateDisplay("not connected!\n");
+			return;
+		}
+
+		if ("stop".equals(action)) {
+			roombaComm.stop();
+		} else if ("forward".equals(action)) {
+			// updateDisplay("Speed is("+roombaComm.getSpeed()+")\n");
+			roombaComm.goForward();
+		} else if ("backward".equals(action)) {
+			// updateDisplay("Speed is("+roombaComm.getSpeed()+")\n");
+			roombaComm.goBackward();
+		} else if ("spinleft".equals(action)) {
+			// updateDisplay("Speed is("+roombaComm.getSpeed()+")\n");
+			roombaComm.spinLeft();
+		} else if ("spinright".equals(action)) {
+			// updateDisplay("Speed is("+roombaComm.getSpeed()+")\n");
+			roombaComm.spinRight();
+		} else if ("turnleft".equals(action)) {
+			roombaComm.turnLeft();
+		} else if ("turnright".equals(action)) {
+			roombaComm.turnRight();
+		} else if ("max".equals(action)) {
+			roombaComm.max();
+		} else if ("dock".equals(action)) {
+			roombaComm.dock();
+		} else if ("test".equals(action)) {
+			LogoA.square(roombaComm, 300);
+			/*
+			 * updateDisplay("Playing some notes\n"); roombacomm.playNote( 72,
+			 * 10 ); // C roombacomm.pause( 200 ); roombacomm.playNote( 79, 10
+			 * ); // G roombacomm.pause( 200 ); roombacomm.playNote( 76, 10 );
+			 * // E roombacomm.pause( 200 );
+			 * 
+			 * updateDisplay("Spinning left, then right\n");
+			 * roombacomm.spinLeft(); roombacomm.pause(1000);
+			 * roombacomm.spinRight(); roombacomm.pause(1000);
+			 * roombacomm.stop();
+			 * 
+			 * updateDisplay("Going forward, then backward\n");
+			 * roombacomm.goForward(); roombacomm.pause(1000);
+			 * roombacomm.goBackward(); roombacomm.pause(1000);
+			 * roombacomm.stop();
+			 */
+		} else if ("OSU".equals(action)) {
+			updateDisplay("Going to play OSU\n");
+
+			roombaComm.stop();
+			roombaComm.pause(500);
+			// RTTTLPlay rp = new RTTTLPlay();
+			// /dev/cu.KeySerial1
+			// 'tron:d=4,o=5,b=200:8f6,8c6,8g,e,8p,8f6,8c6,8g,8f6,8c6,8g,e,8p,8f6,8c6,8g,e.,2d'
+			// String[]
+			// osuSong={roombacomm.getPortname(),"OSU:d=4,o=5,b=125:a,g,a#,a,8g#,a,8g#,2a,8p,8f,8g,8g#,a,8g#,a,8g#,a,g,f,a,g,8a,g,d,8f,8p,8f,8p,8f,8p,8f,8p,c6,a,g,f,8a#,a,8g,f,p,c6,a,g,a,8a#,a,8a#,c6,p,2d6,d,8c6,a#,g,f,8f,8f,8g,a#,8g,a#,a,2a#"};
+			playSong(
+					roombaComm,
+					"OSU:d=4,o=5,b=125:a,g,a#,a,8g#,a,8g#,2a,8p,8f,8g,8g#,a,8g#,a,8g#,a,g,f,a,g,8a,g,d,8f,8p,8f,8p,8f,8p,8f,8p,c6,a,g,f,8a#,a,8g,f,p,c6,a,g,a,8a#,a,8a#,c6,p,2d6,d,8c6,a#,g,f,8f,8f,8g,a#,8g,a#,a,2a#");
+
+			// playSong(roombacomm,
+			// "Baa Baa Black Sheep:d=4,o=5,b=125:c,c,g,g,8a,8b,8c6,8a,g,p,f,f,e,e,d,d,c");
+			roombaComm.stop();
+		} else if ("Tribble On".equals(action)) {
+			tribbleOn = true;
+			tribbleStart(roombaComm, displayText, tribbleOn);
+		} else if ("reset".equals(action)) {
+			roombaComm.stop();
+			roombaComm.startup();
+			roombaComm.control();
+		} else if ("passive".equals(action)) {
+			//passive / start command
+			roombaComm.start();
+		} else if ("safe".equals(action)) {
+			roombaComm.safe();
+		} else if ("full".equals(action)) {
+			roombaComm.full();
+		} else if ("power-off".equals(action)) {
+			roombaComm.powerOff();
+		} else if ("power-on".equals(action)) {
+			roombaComm.powerOn();
+		} else if ("wakeup".equals(action)) {
+			roombaComm.wakeup();
+		} else if ("beep-lo".equals(action)) {
+			roombaComm.playNote(50, 32); // C1
+			roombaComm.pause(200);
+		} else if ("beep-hi".equals(action)) {
+			roombaComm.playNote(90, 32); // C7
+			roombaComm.pause(200);
+		} else if ("clean".equals(action)) {
+			roombaComm.clean();
+		} else if ("spot".equals(action)) {
+			roombaComm.spot();
+		} else if ("vacuum-on".equals(action)) {
+			roombaComm.vacuum(true);
+		} else if ("vacuum-off".equals(action)) {
+			roombaComm.vacuum(false);
+		} else if ("blink-leds".equals(action)) {
+			roombaComm.setLEDs(true, true, true, true, true, true, 255, 255);
+			roombaComm.pause(300);
+			roombaComm
+					.setLEDs(false, false, false, false, false, false, 0, 128);
+		} else if ("sensors".equals(action)) {
+			if (roombaComm.updateSensors())
+				updateDisplay(roombaComm.sensorsAsString() + "\n");
+			else
+				updateDisplay("couldn't read Roomba. Is it connected?\n");
+		} else if ("chargedata".equals(action)) {
+			if (roombaComm.updateSensors())
+				updateDisplay("*****\n" + roombaComm.chargeDataAsString()
+						+ "\n");
+			else
+				updateDisplay("couldn't read Roomba. Is it connected?\n");
+		} else if ("toggleGreen".equals(action)) {
+			setChgGreenLED(roombaComm, !greenOn);
+		} else if ("toggleRed".equals(action)) {
+			setChgRedLED(roombaComm, !redOn);
+		} else if ("toggleSpot".equals(action)) {
+			setChgSpotLED(roombaComm, !toggleSpot);
+		} else if ("toggleClean".equals(action)) {
+			setChgCleanLED(roombaComm, !toggleClean);
+		} else if ("toggleMax".equals(action)) {
+			setChgMaxLED(roombaComm, !toggleMax);
+		} else if ("toggleDirt".equals(action)) {
+			setChgDirtLED(roombaComm, !toggleDirt);
+		} else if ("toggleCheckRobot".equals(action)) {
+			setToggleCheckRobot(roombaComm, !toggleCheckRobot);
+		} else if ("toggleDock".equals(action)) {
+			setToggleDock(roombaComm, !toggleDock);
+		}
+
+	}
+
+	/** implement ChangeListener, for the slider */
+	public void stateChanged(ChangeEvent e) {
+		// System.err.println("stateChanged:"+e);
+		JSlider src = (JSlider) e.getSource();
+		if (!src.getValueIsAdjusting()) {
+			int speed = (int) src.getValue();
+			speed = (speed < 1) ? 1 : speed; // don't allow zero speed
+			updateDisplay("setting speed = " + speed + "\n");
+			roombaComm.setSpeed(speed);
+		}
+	}
+
+	/**
+	 *
+	 */
+	void makePanels() {
+		System.out.println("makePanels-start");
+		makeSelectPanel();
+		this.add(selectPanel, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(2, 2, 2, 2), 2, 2));
+		makeCtrlPanel();
+		makeLedPanel();
+		makeButtonPanel();
+		makeDisplayPanel();
+		this.add(displayPanel, new GridBagConstraints(0, 2, 2, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(2, 2, 2, 2), 2, 2));
+		this.add(getJPanel1(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 2, 2));
+		this.add(getJPanel2(), new GridBagConstraints(1, 0, 1, 2, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(2, 2, 2, 2), 2, 2));
+		this.add(getJPanel3(), new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+
+		// pack(); //setVisible(true);
+		updateDisplay("RoombaComm, version " + RoombaComm.VERSION + "\n");
+		System.out.println("makePanels-finish");
+	}
+		void makeButtonPanel(){
+//			jPanel1.add(buttonPanel, new GridBagConstraints(3, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+		}
+		void makeSelectPanel() {
+			selectPanel = new JPanel();
+			GridBagLayout selectPanelLayout = new GridBagLayout();
+			selectPanelLayout.rowWeights = new double[] {0.0, 0.0};
+			selectPanelLayout.rowHeights = new int[] {53, 58};
+			selectPanelLayout.columnWeights = new double[] {0.0, 0.0};
+			selectPanelLayout.columnWidths = new int[] {181, 88};
+			selectPanel.setLayout(selectPanelLayout);
+
+			// Create a combo box with protocols
+			String[] protocols = { "Roomba 1xx-4xx (SCI)", "Roomba 5xx (OI)" };
+			protocolChoices = new JComboBox(protocols);
+			String p = roombaCommSerial.getProtocol();
+			protocolChoices.setSelectedIndex(p.equals("SCI") ? 0 : 1);
+	
+//			// Create a combo box with choices.
+//	//		String[] ports = roombaCommSerial.listPorts();
+//			// for now short cutting looking for serial ports to speed up start/stop of the UI
+//			String[] ports = {"a","b"};
+//			System.out.println("found "+ports.length+" serialports");
+//	//		portChoices = new JComboBox(ports);
+			portChoices = new JComboBox();
+//			for (int i = 0; i < ports.length; i++) {
+//				String s = ports[i];
+//				System.out.println("adding ["+i+"] as "+s);
+//				portChoices.addItem(ports[i]);
+//				if (s.equals(roombaCommSerial.getPortname())) {
+//					System.out.println(" setting port as selected due to "+roombaCommSerial.getPortname());
+//					portChoices.setSelectedItem(s);
+//				}
+//			}
+			
+			handshakeButton = new JCheckBox("<html>h/w<br>handshake</html>");
+			// net button
+			
+			// Add a border around the select panel.
+			selectPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory
+					.createTitledBorder("Select Roomba Type & Port"), BorderFactory
+					.createEmptyBorder(1, 1, 1, 1)));
+			System.out.println("577-setPreferredSize");
+			selectPanel.setPreferredSize(new java.awt.Dimension(535, 128));
+			System.out.println("577-setPreferredSize-done");
+			selectPanel.add(protocolChoices, new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.BOTH, new Insets(0, 5, 0, 5), 0, 0));
+			protocolChoices.setBorder(BorderFactory.createTitledBorder(BorderFactory.createEmptyBorder(0, 0, 0, 0), "Protocal", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION));
+			protocolChoices.setToolTipText("Set the protocal based on the roomba hardware version");
+//			selectPanel.setJMenuBar(getJMenuBar1());
+			selectPanel.add(handshakeButton, new GridBagConstraints(0, 2, 1, 1, 0.1, 0.1, GridBagConstraints.WEST, GridBagConstraints.BOTH, new Insets(0, 0, 0, 0), 0, 0));
+			handshakeButton.setPreferredSize(new java.awt.Dimension(148, 40));
+			handshakeButton.setText("h/w handshake");
+			handshakeButton.setToolTipText("check if you want to use the hardware handshake setting");
+			selectPanel.add(getJTabbedPanelConfig(), new GridBagConstraints(1, 1, 1, 2, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0));
+			selectPanel.add(getJTextPane1(), new GridBagConstraints(0, 0, 2, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 2, 2));
+
+			// Listen to events from the combo box.
+			protocolChoices.addActionListener(this);
+		}
+
+	/** 
+     * 
+     */
+	void makeCtrlPanel() {
+
+	}
+
+	void makeLedPanel() {
+
+		// if (roombaCommSerial.getProtocol().equalsIgnoreCase("SCI")) {
+//		String off = "None";
+//		String green = "Green";
+//		String red = "Red";
+//		String both = "Orange";
+
+		// Group the radio buttons.
+//		ButtonGroup group = new ButtonGroup();
+		// }
+
+		// powerColorIntensity.addChangeListener(this);
+		// powerColorIntensity.addChangeListener(new ChangeListener() {setPow
+		// });
+
+	} // End make led panel
+
+	/**
+     *
+     */
+	void makeDisplayPanel() {
+		displayPanel = new JPanel();
+		GridBagLayout displayPanelLayout = new GridBagLayout();
+		displayPanelLayout.rowWeights = new double[] {0.1};
+		displayPanelLayout.rowHeights = new int[] {7};
+		displayPanelLayout.columnWeights = new double[] {0.1};
+		displayPanelLayout.columnWidths = new int[] {7};
+		displayPanel.setLayout(displayPanelLayout);
+		displayPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory
+				.createTitledBorder("Display"), BorderFactory
+				.createEmptyBorder(1, 1, 1, 1)));
+		displayPanel.setPreferredSize(new java.awt.Dimension(412, 45));
+		{
+			displayText = new JTextArea(10, 75);
+			displayPanel.add(displayText, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+			displayText.setLineWrap(false);
+			DefaultCaret caret = (DefaultCaret)displayText.getCaret();
+			caret.setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE);
+			displayText.setCaret(caret);
+			displayText.setPreferredSize(new java.awt.Dimension(825, 27));
+			displayText.setSize(795, 160);
+			
+		}
+		
+		JTextArea displayText2 = new JTextArea(25, 30);
+		displayText2.setLineWrap(true);
+		DefaultCaret dc = new DefaultCaret();
+		dc.setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE);
+		// only works on Java 1.5+
+		// dc.setUpdatePolicy( DefaultCaret.ALWAYS_UPDATE );
+		JScrollPane scrollPane = new JScrollPane(displayText,
+				JScrollPane.VERTICAL_SCROLLBAR_ALWAYS,
+				JScrollPane.HORIZONTAL_SCROLLBAR_NEVER);
+		scrollPane.getVerticalScrollBar();
+		// scrollPane.add(displayText2,JScrollPane.VERTICAL_SCROLLBAR_ALWAYS,
+		// JScrollPane.HORIZONTAL_SCROLLBAR_NEVER);
+		displayPanel.add(scrollPane, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(0, 0, 0, 0), 0, 0));
+		scrollPane.setSize(795, 163);
+		scrollPane.setPreferredSize(new java.awt.Dimension(766, 81));
+	}
+
+	protected void updateDisplay(String s) {
+		System.out.println("updateDisplay(string): start");
+		displayText.append(s);
+		if (s != null && !(s.endsWith("\n"))) {
+			displayText.append("\n");
+		}
+//		displayText.setCaretPosition(displayText.getDocument().getLength());
+		System.out.println("updateDisplay(string): reposition to "+displayText.getDocument().getLength());
+		// TODO: need to find a way to auto scroll to the end of the text so the user can just follow along.
+		// currently on my PC. I am not even able to scroll down to the end of the text. sigh...
+		displayText.getParent().validate();
+		displayText.getParent().repaint(100);
+		displayText.setText(displayText.getText() );
+		    
+////		for (int i = 0; i < 20; i++) {        
+////			displayText.append("This is text " + i + "\n");
+//			scrollPaneVbar.setValue(scrollPaneVbar.getMaximum());
+//			scrollPaneVbar.paint(scrollPaneVbar.getGraphics());
+//			displayText.scrollRectToVisible(displayText.getVisibleRect());
+//			if (displayText != null && displayText.getGraphics() != null){
+//				displayText.paint(displayText.getGraphics());
+//				scrollPaneVbar.getParent().getParent().repaint(100);
+////				displayText.repaint(100);
+//				System.out.println("displayText calling paint on displayText "); // this should never happen
+//			}else{
+//				if (displayText != null){
+//					System.out.println("displayText is null"); // this should never happen
+//				}
+//				if (displayText.getGraphics() != null){
+//					System.out.println("displayText.getGraphics is null"); // this might happen?
+//				}
+//			}
+//			try {            
+//				Thread.sleep(250);        
+//				} catch (InterruptedException ex) {            
+////					Logger.getLogger(ScrollTextView.class.getName()).log(Level.SEVERE, null, ex);
+//					System.out.println("InterruptedException while trying to update displayText");
+//				}    
+////		}
+//		// displayText.getParent().validate();
+		System.out.println("updateDisplay(string): end");
+	}
+
+	protected void updateDisplay(String s, boolean onlyDebug) {
+		if (onlyDebug && (roombaCommSerial.debug || roombaCommTCPClient.debug)) {
+			updateDisplay(s);
+			System.out.println(s);
+		}
+	}
+
+	protected static void updateDisplay(RoombaComm roombacomm,
+			JTextArea jtextarea, String s, boolean onlyDebug) {
+		if (onlyDebug && roombacomm.debug) {
+			jtextarea.append(s);
+			jtextarea.setCaretPosition(jtextarea.getDocument().getLength());
+			jtextarea.getParent().validate();
+			jtextarea.getParent().repaint(100);
+			System.out.println(s);
+		}
+	}
+
+	/** Returns an ImageIcon, or null if the path was invalid. */
+	protected static ImageIcon createImageIcon(String path, String description) {
+		// yes, this is supposed to say "RoombaCommTest"
+		java.net.URL imgURL = RoombaCommPanel.class.getResource(path);
+		if (imgURL != null) {
+			return new ImageIcon(imgURL, description);
+		} else {
+			System.err.println("Couldn't find file: " + path);
+			return null;
+		}
+	}
+
+	@SuppressWarnings("unchecked")
+	protected void playSong(RoombaComm roombacomm, String rtttl) {
+		ArrayList notelist = RTTTLParser.parse(rtttl);
+		int songsize = notelist.size();
+		// if within the size of a roomba song, make the nsong, then play
+		if (songsize <= 16) {
+			updateDisplay("creating a song with createSong()", this.debug);
+			int notearray[] = new int[songsize * 2];
+			int j = 0;
+			for (int i = 0; i < songsize; i++) {
+				Note note = (Note) notelist.get(i);
+				int sec64ths = note.duration * 64 / 1000;
+				notearray[j++] = note.notenum;
+				notearray[j++] = sec64ths;
+			}
+			roombacomm.createSong(1, notearray);
+			roombacomm.playSong(1);
+		}
+		// otherwise, try to play it in realtime
+		else {
+			updateDisplay("playing song in realtime with playNote()\n",
+					this.debug);
+			int fudge = 20;
+			for (int i = 0; i < songsize; i++) {
+				Note note = (Note) notelist.get(i);
+				int duration = note.duration;
+				int sec64ths = duration * 64 / 1000;
+				if (sec64ths < 5)
+					sec64ths = 5;
+				if (note.notenum != 0)
+					roombacomm.playNote(note.notenum, sec64ths);
+				roombacomm.pause(duration + fudge);
+			}
+		}
+	}
+
+	protected static void tribbleStart(RoombaComm roombacomm,
+			JTextArea jtextarea, boolean tribbleOn) {
+		createTribblePurrSong(roombacomm);
+
+		updateDisplay(roombacomm, jtextarea, "Press return to exit.",
+				roombacomm.debug);
+
+		while (tribbleOn) {
+
+			purr(roombacomm, jtextarea);
+
+			if (Math.random() < 0.1)
+				bark(roombacomm, jtextarea);
+
+			roombacomm.pause(1500 + (int) (Math.random() * 500));
+			// tribbleOn = keyIsPressed();
+			roombacomm.updateSensors();
+			boolean b = roombacomm.maxButton();
+			updateDisplay(roombacomm, jtextarea, "max button is (" + b + ")",
+					roombacomm.debug);
+			tribbleOn = (!b);
+		}
+	}
+
+	protected static void purr(RoombaComm roombacomm, JTextArea jtextarea) {
+		updateDisplay(roombacomm, jtextarea, "purr", roombacomm.debug);
+		roombacomm.playSong(5);
+		for (int i = 0; i < 5; i++) {
+			roombacomm.spinLeftAt(75);
+			roombacomm.pause(100);
+			roombacomm.spinRightAt(75);
+			roombacomm.pause(100);
+			roombacomm.stop();
+		}
+	}
+
+	protected static void createTribblePurrSong(RoombaComm roombacomm) {
+		int song[] = { 68, 4, 67, 4, 66, 4, 65, 4, 64, 4, 63, 4, 62, 4, 61, 4,
+				60, 4, 59, 4, 60, 4, 61, 4, };
+		roombacomm.createSong(5, song);
+	}
+
+	protected static void bark(RoombaComm roombacomm, JTextArea jtextarea) {
+		updateDisplay(roombacomm, jtextarea, "bark", roombacomm.debug);
+		roombacomm.vacuum(true);
+		roombacomm.playNote(50, 5);
+		roombacomm.pause(150);
+		roombacomm.vacuum(false);
+	}
+
+	protected int getPower_color() {
+		return power_color;
+	}
+
+	protected void setPower_color(int power_color) {
+		if (power_color >= 0 && power_color <= 255) {
+			this.power_color = power_color;
+		} else {
+			this.power_color = 0;
+			updateDisplay("invalid power color attempted (" + power_color + ")");
+		}
+	}
+
+	protected int getPower_int() {
+		return power_int;
+	}
+
+	protected void setPower_int(int power_int) {
+
+		if (power_color >= 0 && power_color <= 255) {
+			this.power_int = power_int;
+		} else {
+			this.power_int = 0;
+			updateDisplay("invalid power intensity attempted (" + power_color
+					+ ")");
+		}
+	}
+
+	protected void setLEDs(RoombaComm roombacomm) {
+		if (!roombacomm.connected())
+			return;
+		if (roombacomm.getProtocol().equalsIgnoreCase("SCI")) {
+			roombacomm.setLEDs(this.greenOn, this.redOn, this.toggleSpot,
+					this.toggleClean, this.toggleMax, this.toggleDirt,
+					this.power_color, this.power_int);
+		}
+		if (roombacomm.getProtocol().equalsIgnoreCase("OI")) {
+			roombacomm.setLEDsOI(this.toggleCheckRobot, this.toggleSpot,
+					this.toggleDock, this.toggleDirt, this.power_color,
+					this.power_int);
+		}
+		return;
+	}
+
+	protected void setChgGreenLED(RoombaComm roombacomm, boolean green) {
+		this.greenOn = green;
+		updateDisplay("setChgGreenLED", this.debug);
+		this.setLEDs(roombacomm);
+	}
+
+	protected void setChgRedLED(RoombaComm roombacomm, boolean red) {
+		this.redOn = red;
+		updateDisplay("setChgRedLED", this.debug);
+		this.setLEDs(roombacomm);
+	}
+
+	protected void setChgSpotLED(RoombaComm roombacomm, boolean spot) {
+		updateDisplay("setChgSpotLED value(" + spot + ")", this.debug);
+		roombacomm.setChgSpotLED(roombacomm, spot);
+		this.toggleSpot = roombacomm.isToggleSpot();
+	}
+
+	protected void setChgCleanLED(RoombaComm roombacomm, boolean clean) {
+		updateDisplay("setChgCleanLED value(" + clean + ")", this.debug);
+		roombacomm.setChgCleanLED(roombacomm, clean);
+		this.toggleClean = roombacomm.isToggleClean();
+	}
+
+	protected void setChgMaxLED(RoombaComm roombacomm, boolean max) {
+		// updateDisplay("setChgMaxLED",this.debug);
+		// this.toggleMax=max;
+		// this.setLEDs(roombacomm);
+		updateDisplay("setChgMaxLED value(" + max + ")", this.debug);
+		roombacomm.setChgMaxLED(roombacomm, max);
+		this.toggleMax = roombacomm.isToggleMax();
+	}
+
+	protected void setChgDirtLED(RoombaComm roombacomm, boolean dirt) {
+		updateDisplay("setChgDirtLED value(" + dirt + ")", this.debug);
+		roombacomm.setChgDirtLED(roombacomm, dirt);
+		this.toggleDirt = roombacomm.isToggleDirt();
+	}
+
+	public void setToggleCheckRobot(RoombaComm roombacomm, boolean CheckRobot) {
+		updateDisplay("setChgCheckRobotLED value(" + CheckRobot + ")",
+				this.debug);
+		roombacomm.setChgCheckRobotLED(roombacomm, CheckRobot);
+		this.toggleCheckRobot = roombacomm.isToggleCheckRobot();
+	}
+
+	public void setToggleDock(RoombaComm roombacomm, boolean dock) {
+		updateDisplay("setChgDockLED value(" + dock + ")", this.debug);
+		roombacomm.setChgDockLED(roombacomm, dock);
+		this.toggleDock = roombacomm.isToggleDock();
+	}
+
+	protected void setChgPowerColorLED(RoombaComm roombacomm, int power_color) {
+		updateDisplay("setChgPowerColorLED value(" + power_color + ")",
+				this.debug);
+		// this.power_color=power_color;
+		roombacomm.setChgPowerColorLED(roombacomm, power_color);
+		// this.power_color
+		// TODO: Keep track of power color
+	}
+
+	protected void setChgPowerIntensityLED(RoombaComm roombacomm,
+			int power_intensity) {
+		updateDisplay("setChgPowerIntensityLED value(" + power_intensity + ")",
+				this.debug);
+		roombacomm.setChgPowerIntensityLED(roombacomm, power_intensity);
+		// TODO: Keep track of Power Intensity
+	}
+
+	public boolean getToggleCheckRobot() {
+		return toggleCheckRobot;
+	}
+
+	public boolean getToggleDock() {
+		return toggleDock;
+	}
+	
+//	private JPanel getJPanelMiddle() {
+//		if(jPanelMiddle == null) {
+//			jPanelMiddle = new JPanel();
+//		}
+//		return jPanelMiddle;
+//	}
+	
+	private JTabbedPane getJTabbedPanelConfig() {
+		if(jTabbedPanelConfig == null) {
+			jTabbedPanelConfig = new JTabbedPane();
+			jTabbedPanelConfig.setPreferredSize(new java.awt.Dimension(139, 28));
+			jTabbedPanelConfig.addTab("Net", null, getJPanelConfigNet(), "set the TCP network settings here");
+			jTabbedPanelConfig.addTab("Serial", null, getJPanelConfigSerial(), "set the serial settings here");
+		}
+		jTabbedPanelConfig.setMinimumSize(new Dimension(200,100));
+		jTabbedPanelConfig.setPreferredSize(new java.awt.Dimension(323, 100));
+		jTabbedPanelConfig.setToolTipText("Use one of the two connection methods to communicate with the Roomba");
+		// Register a change listener
+		jTabbedPanelConfig.addChangeListener(new ChangeListener() {
+	        // This method is called whenever the selected tab changes
+	        public void stateChanged(ChangeEvent evt) {
+	        	System.out.println("jTabbedPanelConfig - state changed");
+	            JTabbedPane pane = (JTabbedPane)evt.getSource();
+	            // Get current tab
+	            int sel = pane.getSelectedIndex();
+	            System.out.println("jTabbedPanelConfig - tab "+sel+" selected");
+	            System.out.println("jTabbedPanelConfig - roombaCommSerial.isConnected() "+roombaCommSerial.isConnected());
+	            System.out.println("jTabbedPanelConfig - roombaCommTCPClient.isConnected() "+roombaCommTCPClient.isConnected());
+	            if (roombaCommTCPClient.isConnected() && roombaCommSerial.isConnected()){
+	            	System.out.println("***** I have no idea why both should ever be connected at the same time... THIS IS STRANGE *****");
+	            }
+	            if (sel == 1){
+	            	setCommPorts();
+	            	if (roombaCommTCPClient.isConnected() && !roombaCommSerial.isConnected()){
+	            		pane.setSelectedIndex(0);
+	            		System.out.println("active net connection found setting focus to the correct tab");
+	            	}
+	            }
+	            if (sel == 0){
+	            	if (!roombaCommTCPClient.isConnected() && roombaCommSerial.isConnected()){
+	            		pane.setSelectedIndex(1);
+	            		System.out.println("active Serial connection found setting focus to the correct tab");
+	            	}
+	            }
+	        }
+	    });
+
+		return jTabbedPanelConfig;
+	}
+	
+	private JPanel getJPanelConfigNet() {
+		if(jPanelConfigNet == null) {
+			jPanelConfigNet = new JPanel();
+			GridBagLayout jPanelConfigNetLayout = new GridBagLayout();
+			jPanelConfigNetLayout.rowWeights = new double[] {0.0, 0.1};
+			jPanelConfigNetLayout.rowHeights = new int[] {26, 7};
+			jPanelConfigNetLayout.columnWeights = new double[] {0.1, 0.1, 0.1};
+			jPanelConfigNetLayout.columnWidths = new int[] {7, 7, 7};
+			jPanelConfigNet.setLayout(jPanelConfigNetLayout);
+			jPanelConfigNet.setPreferredSize(new java.awt.Dimension(318, 72));
+			jPanelConfigNet.add(getJLabelHost(), new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.EAST, GridBagConstraints.VERTICAL, new Insets(0, 0, 0, 0), 0, 0));
+			jPanelConfigNet.add(getJTextFieldHost(), new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(0, 0, 0, 0), 0, 0));
+			jPanelConfigNet.add(getJLabelPort(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.EAST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+			jPanelConfigNet.add(getJTextFieldPort(), new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.WEST, GridBagConstraints.HORIZONTAL, new Insets(0, 0, 0, 0), 0, 0));
+			{
+				netButton = new JButton();
+				jPanelConfigNet.add(netButton, new GridBagConstraints(2, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				netButton.setText("connect");
+				netButton.setActionCommand("net");
+				netButton.addActionListener(this);
+			}
+		}
+		return jPanelConfigNet;
+	}
+	
+	private JPanel getJPanelConfigSerial() {
+		if(jPanelConfigSerial == null) {
+			jPanelConfigSerial = new JPanel();
+			GridBagLayout jPanelConfigSerialLayout = new GridBagLayout();
+			jPanelConfigSerial.setPreferredSize(new java.awt.Dimension(318, 72));
+			jPanelConfigSerialLayout.rowWeights = new double[] {0.1};
+			jPanelConfigSerialLayout.rowHeights = new int[] {7};
+			jPanelConfigSerialLayout.columnWeights = new double[] {0.1, 0.1, 0.1};
+			jPanelConfigSerialLayout.columnWidths = new int[] {7, 7, 7};
+			jPanelConfigSerial.setLayout(jPanelConfigSerialLayout);
+			jPanelConfigSerial.addFocusListener(new FocusAdapter() {
+				public void focusGained(FocusEvent evt) {
+					jPanelConfigSerialFocusGained(evt);
+				}
+			});
+			{
+				portChoices = new JComboBox();
+				jPanelConfigSerial.add(portChoices, new GridBagConstraints(1, -1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(0, 0, 0, 0), 0, 0));
+				portChoices.validate();
+				portChoices.repaint();
+				portChoices.addActionListener(this);
+			}
+			{
+				connectButton = new JButton();
+				jPanelConfigSerial.add(connectButton, new GridBagConstraints(2, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				jPanelConfigSerial.add(getJLabelCOMM(), new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.EAST, GridBagConstraints.NONE, new Insets(0, 5, 0, 5), 0, 0));
+				connectButton.setText("  connect  ");
+				connectButton.setActionCommand("connect");
+				connectButton.addActionListener(this);
+			}
+		}
+		return jPanelConfigSerial;
+	}
+	
+	private JLabel getJLabelHost() {
+		if(jLabelHost == null) {
+			jLabelHost = new JLabel();
+			jLabelHost.setLayout(null);
+			jLabelHost.setText("Host");
+			jLabelHost.setPreferredSize(new java.awt.Dimension(39, 17));
+			jLabelHost.setLabelFor(getJTextFieldHost());
+			jLabelHost.setToolTipText("Set the hostname/IP address");
+		}
+		return jLabelHost;
+	}
+	
+	private JTextField getJTextFieldHost() {
+		if(jTextFieldHost == null) {
+			jTextFieldHost = new JTextField();
+			jTextFieldHost.setText("192.168.15.240");
+			jTextFieldHost.setToolTipText("Set the hostname/IP address");
+		}
+		return jTextFieldHost;
+	}
+	
+	private JPanel getJPanel1() {
+		if(jPanel1 == null) {
+			jPanel1 = new JPanel();
+			GridBagLayout jPanel1Layout = new GridBagLayout();
+			jPanel1Layout.rowWeights = new double[] {0.1};
+			jPanel1Layout.rowHeights = new int[] {7};
+			jPanel1Layout.columnWeights = new double[] {0.1, 0.1};
+			jPanel1Layout.columnWidths = new int[] {7, 7};
+			jPanel1.setLayout(jPanel1Layout);
+			jPanel1.setPreferredSize(new java.awt.Dimension(800, 320));
+			{
+				ledPanel = new JPanel();
+				GridBagLayout ledPanelLayout = new GridBagLayout();
+				ledPanel.setLayout(ledPanelLayout);
+				jPanel1.add(ledPanel, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				{
+					JPanel ledPanel1 = new JPanel(new GridLayout(3, 3));
+					ledPanel.add(ledPanel1, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+					ButtonGroup group = new ButtonGroup();
+					String off="None";
+					String green="Green";
+					String red="Red";
+					String both="Orange";
+					{
+						JRadioButton statusOffButton = new JRadioButton(off);
+						ledPanel1.add(statusOffButton);
+						statusOffButton.setMnemonic(KeyEvent.VK_N);
+						statusOffButton.setActionCommand("StatusLED-" + off);
+						statusOffButton.setSelected(true);
+						group.add(statusOffButton);
+						statusOffButton.addActionListener(new ActionListener() {
+							public void actionPerformed(ActionEvent e) {
+								updateDisplay("setting Power Color = " + e.getActionCommand()
+										+ "\n");
+								setChgGreenLED(roombaCommSerial, false);
+								setChgRedLED(roombaCommSerial, false);
+							}
+						});
+					}
+					{
+						JRadioButton statusGreenButton = new JRadioButton(green);
+						ledPanel1.add(statusGreenButton);
+						statusGreenButton.setMnemonic(KeyEvent.VK_G);
+						statusGreenButton.setActionCommand("StatusLED-" + green);
+						group.add(statusGreenButton);
+						statusGreenButton.addActionListener(new ActionListener() {
+							public void actionPerformed(ActionEvent e) {
+								updateDisplay("setting Power Color = " + e.getActionCommand()
+										+ "\n");
+								setChgGreenLED(roombaCommSerial, true);
+								setChgRedLED(roombaCommSerial, false);
+							}
+						});
+					}
+					{
+						JRadioButton statusRedButton = new JRadioButton(red);
+						ledPanel1.add(statusRedButton);
+						statusRedButton.setMnemonic(KeyEvent.VK_R);
+						statusRedButton.setActionCommand("StatusLED-" + red);
+						group.add(statusRedButton);
+						statusRedButton.addActionListener(new ActionListener() {
+							public void actionPerformed(ActionEvent e) {
+								updateDisplay("setting Power Color = " + e.getActionCommand()
+										+ "\n");
+								setChgGreenLED(roombaCommSerial, false);
+								setChgRedLED(roombaCommSerial, true);
+							}
+						});
+					}
+					{
+						JRadioButton statusBothButton = new JRadioButton(both);
+						ledPanel1.add(statusBothButton);
+						statusBothButton.setMnemonic(KeyEvent.VK_O);
+						statusBothButton.setActionCommand("StatusLED-" + both);
+						group.add(statusBothButton);
+						statusBothButton.addActionListener(new ActionListener() {
+							public void actionPerformed(ActionEvent e) {
+								updateDisplay("setting Power Color = " + e.getActionCommand()
+										+ "\n");
+								setChgGreenLED(roombaCommSerial, true);
+								setChgRedLED(roombaCommSerial, true);
+							}
+						});
+					}
+					{
+						JButton but_toggleSpot = new JButton();
+						ledPanel1.add(but_toggleSpot);
+						but_toggleSpot.setActionCommand("toggleSpot");
+						but_toggleSpot.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_spotOn.png")));
+						but_toggleSpot.setPreferredSize(new java.awt.Dimension(46, 50));
+						but_toggleSpot.setSize(40, 40);
+						but_toggleSpot.addActionListener(this);
+					}
+					{
+						JButton but_toggleClean = new JButton();
+						ledPanel1.add(but_toggleClean);
+						but_toggleClean.setActionCommand("toggleClean");
+						but_toggleClean.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_cleanOn.png")));
+						but_toggleClean.setPreferredSize(new java.awt.Dimension(40, 40));
+						but_toggleClean.setSize(40, 40);
+						but_toggleClean.addActionListener(this);
+					}
+					{
+						JButton but_toggleDirt = new JButton();
+						ledPanel1.add(but_toggleDirt);
+						but_toggleDirt.setActionCommand("toggleDirt");
+						but_toggleDirt.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_dirtOn.png")));
+						but_toggleDirt.setPreferredSize(new java.awt.Dimension(40, 40));
+						but_toggleDirt.setSize(40, 40);
+						but_toggleDirt.addActionListener(this);
+					}
+					{
+						JButton but_toggleMax = new JButton();
+						ledPanel1.add(but_toggleMax);
+						but_toggleMax.setActionCommand("toggleMax");
+						but_toggleMax.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_maxOn.png")));
+						but_toggleMax.setSize(40, 40);
+						but_toggleMax.setPreferredSize(new java.awt.Dimension(40, 40));
+						but_toggleMax.addActionListener(this);
+					}
+					{
+						JButton but_toggleDock = new JButton();
+						ledPanel1.add(but_toggleDock);
+						but_toggleDock.setActionCommand("toggleDock");
+						but_toggleDock.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_dockOn.png")));
+						but_toggleDock.setPreferredSize(new java.awt.Dimension(40, 40));
+						but_toggleDock.setSize(40, 40);
+						but_toggleDock.addActionListener(this);
+					}
+					{
+						JButton but_toggleCheckRobot = new JButton();
+						ledPanel1.add(but_toggleCheckRobot);
+						but_toggleCheckRobot.setActionCommand("toggleCheckRobot");
+						but_toggleCheckRobot.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_checkrobotOn.png")));
+						but_toggleCheckRobot.setPreferredSize(new java.awt.Dimension(40, 40));
+						but_toggleCheckRobot.setSize(40, 40);
+						but_toggleCheckRobot.addActionListener(this);
+					}
+				}
+				{
+					powerColorSlider = new JSlider(JSlider.HORIZONTAL, 0, 255, 100);
+					ledPanel.add(powerColorSlider, new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.BOTH, new Insets(2, 2, 2, 2), 2, 2));
+					powerColorSlider.setPaintTicks(true);
+					powerColorSlider.setMajorTickSpacing(100);
+					powerColorSlider.setMinorTickSpacing(25);
+					powerColorSlider.setPaintLabels(true);
+					powerColorSlider.addChangeListener(new ChangeListener() {
+						public void stateChanged(ChangeEvent e) {
+							JSlider src = (JSlider) e.getSource();
+							if (!src.getValueIsAdjusting()) {
+								setPower_color((int) src.getValue());
+								updateDisplay("setting Power Color = " + getPower_color()
+										+ "\n");
+								setLEDs(roombaCommSerial);
+							}
+						}
+					});
+				}
+				{
+					JLabel powerColorLabel = new JLabel("PowerColor", JLabel.CENTER);
+					ledPanel.add(powerColorLabel, new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 2, 2));
+				}
+				{
+					powerColorIntensity = new JSlider(JSlider.HORIZONTAL, 0, 255, 100);
+					ledPanel.add(powerColorIntensity, new GridBagConstraints(0, 4, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 2, 2));
+					powerColorIntensity.setPaintTicks(true);
+					powerColorIntensity.setMajorTickSpacing(100);
+					powerColorIntensity.setMinorTickSpacing(25);
+					powerColorIntensity.setPaintLabels(true);
+					powerColorIntensity.addChangeListener(new ChangeListener() {
+						public void stateChanged(ChangeEvent e) {
+							// System.err.println("stateChanged:"+e);
+							JSlider src = (JSlider) e.getSource();
+							if (!src.getValueIsAdjusting()) {
+								setPower_int((int) src.getValue());
+								updateDisplay("setting Power Color Intensity = "
+										+ getPower_int() + "\n");
+								setLEDs(roombaCommSerial);
+							}
+						}
+					});
+				}
+				{
+					JLabel powerColorIntensityLabel = new JLabel("PowerColorIntensity",
+							JLabel.CENTER);
+					ledPanel.add(powerColorIntensityLabel, new GridBagConstraints(0, 3, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 2, 2));
+				}
+				ledPanelLayout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1};
+				ledPanelLayout.rowHeights = new int[] {7, 7, 7, 7, 7};
+				ledPanelLayout.columnWeights = new double[] {0.1};
+				ledPanelLayout.columnWidths = new int[] {7};
+				ledPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("LEDs"),BorderFactory.createEmptyBorder(5,5,5,5)));
+				ledPanel.setPreferredSize(new java.awt.Dimension(288, 313));
+			}
+			
+			{
+				ctrlPanel = new JPanel();
+				jPanel1.add(ctrlPanel, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.BOTH, new Insets(0, 0, 0, 0), 0, 0));
+				{
+					JPanel ctrlPanel1 = new JPanel();
+					ctrlPanel.add(ctrlPanel1);
+					{
+						JButton but_turnleft = new JButton();
+						ctrlPanel1.add(but_turnleft);
+						but_turnleft.setActionCommand("turnleft");
+						but_turnleft.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_turnleft.png")));
+						but_turnleft.addActionListener(this);
+					}
+					{
+						JButton but_forward = new JButton();
+						ctrlPanel1.add(but_forward);
+						but_forward.setActionCommand("forward");
+						but_forward.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_forward.png")));
+						but_forward.addActionListener(this);
+					}
+					{
+						JButton but_turnright = new JButton();
+						ctrlPanel1.add(but_turnright);
+						but_turnright.setActionCommand("turnright");
+						but_turnright.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_turnright.png")));
+						but_turnright.addActionListener(this);
+					}
+					{
+						JButton but_spinleft = new JButton();
+						ctrlPanel1.add(but_spinleft);
+						but_spinleft.setActionCommand("spinleft");
+						but_spinleft.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_spinleft.png")));
+						but_spinleft.addActionListener(this);
+					}
+					{
+						JButton but_stop = new JButton();
+						ctrlPanel1.add(but_stop);
+						but_stop.setActionCommand("stop");
+						but_stop.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_stop.png")));
+						but_stop.addActionListener(this);
+					}
+					{
+						JButton but_spinright = new JButton();
+						ctrlPanel1.add(but_spinright);
+						but_spinright.setActionCommand("spinright");
+						but_spinright.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_spinright.png")));
+						but_spinright.addActionListener(this);
+					}
+					{
+						ctrlPanel1.add(new JLabel());
+					}
+					{
+						JButton but_backward = new JButton();
+						ctrlPanel1.add(but_backward);
+						but_backward.setActionCommand("backward");
+						but_backward.setIcon(new ImageIcon(getClass().getClassLoader().getResource("com/hackingroomba/roombacomm/images/but_backward.png")));
+						but_backward.setPreferredSize(new java.awt.Dimension(55, 78));
+						but_backward.addActionListener(this);
+					}
+					{
+						ctrlPanel1.add(new JLabel());
+					}
+					ctrlPanel1.setLayout(new GridLayout(3, 3));
+					ctrlPanel1.setPreferredSize(new java.awt.Dimension(194, 199));
+					ctrlPanel1.setSize(194, 199);
+//					ctrlPanel1.setTabTitle("");
+				}
+				{
+					speedSlider = new JSlider(JSlider.HORIZONTAL, 0, 500, 200);
+					ctrlPanel.add(speedSlider);
+					speedSlider.setPaintTicks(true);
+					speedSlider.setMajorTickSpacing(100);
+					speedSlider.setMinorTickSpacing(25);
+					speedSlider.setPaintLabels(true);
+					speedSlider.addChangeListener(this);
+				}
+				{
+					JLabel sliderLabel = new JLabel();
+					ctrlPanel.add(sliderLabel);
+					sliderLabel.setText("speed (mm/s)");
+					sliderLabel.setAlignmentX(JLabel.CENTER);
+				}
+				ctrlPanel.setLayout(new BoxLayout(ctrlPanel, BoxLayout.Y_AXIS));
+				ctrlPanel.setBorder(BorderFactory.createCompoundBorder(BorderFactory.createTitledBorder("Movement"),BorderFactory.createEmptyBorder(5,5,5,5)));
+			}
+		}
+		return jPanel1;
+	}
+	
+	private JLabel getJLabelPort() {
+		if(jLabelPort == null) {
+			jLabelPort = new JLabel();
+			jLabelPort.setText("Port");
+			jLabelPort.setPreferredSize(new java.awt.Dimension(39, 33));
+			jLabelPort.setLabelFor(getJTextFieldPort());
+			jLabelPort.setToolTipText("Set the TCP port");
+		}
+		return jLabelPort;
+	}
+	
+	private JTextField getJTextFieldPort() {
+		if(jTextFieldPort == null) {
+			jTextFieldPort = new JTextField();
+			jTextFieldPort.setToolTipText("Set the TCP port");
+			jTextFieldPort.setText("5001");
+		}
+		return jTextFieldPort;
+	}
+	
+	private void jPanelConfigSerialFocusGained(FocusEvent evt) {
+		System.out.println("jPanelConfigSerial.focusGained, event="+evt);
+		//TODO add your code for jPanelConfigSerial.focusGained
+		// make sure we have a roombaCommSerial object
+		setCommPorts();
+	}
+
+	/**
+	 * 
+	 */
+	private void setCommPorts() {
+		System.out.println("setCommPorts-start");
+		if (roombaCommSerial == null){
+			System.out.println("setCommPorts-roombaCommSerial is null");
+			roombaCommSerial = new RoombaCommSerial(this.debug);	
+		}
+		if (portChoices != null) {
+			System.out.println("setCommPorts-portChoices object is not null");
+			// if the list of ports is empty then try to fill it
+			if (portChoices.getItemCount() ==0){
+			// fill in the comm ports (combo box) with choices.
+				System.out.println("setCommPorts-getting list of ports");
+				String[] ports = roombaCommSerial.listPorts();
+				// for now short cutting looking for serial ports to speed up start/stop of the UI
+	//				String[] ports = {"a","b"};
+				System.out.println("setCommPorts-found "+ports.length+" serialports");
+				for (int i = 0; i < ports.length; i++) {
+					String s = ports[i];
+					System.out.println("setCommPorts-adding ["+i+"] as "+s);
+					portChoices.addItem(ports[i]);
+					if (s.equals(roombaCommSerial.getPortname())) {
+						System.out.println("setCommPorts- setting port as selected due to "+roombaCommSerial.getPortname());
+						portChoices.setSelectedItem(s);
+					}
+				}
+				portChoices.validate();
+				portChoices.repaint();
+			}
+		}
+		System.out.println("setCommPorts-start");
+	}
+	
+	private JLabel getJLabelCOMM() {
+		if(jLabelCOMM == null) {
+			jLabelCOMM = new JLabel();
+			jLabelCOMM.setText("COM");
+		}
+		return jLabelCOMM;
+	}
+	
+	private JPanel getJPanel2() {
+		if(jPanel2 == null) {
+			jPanel2 = new JPanel();
+			GridBagLayout jPanel2Layout = new GridBagLayout();
+			jPanel2Layout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1, 0.1};
+			jPanel2Layout.rowHeights = new int[] {7, 7, 7, 7, 7, 7};
+			jPanel2Layout.columnWeights = new double[] {0.0};
+			jPanel2Layout.columnWidths = new int[] {150};
+			jPanel2.setLayout(jPanel2Layout);
+			jPanel2.setBorder(BorderFactory.createTitledBorder(null, "Commands", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION));
+			jPanel2.setPreferredSize(new java.awt.Dimension(233, 505));
+			jPanel2.add(getJPanelModes(), new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0));
+			jPanel2.add(getJPanelSounds(), new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0));
+			jPanel2.add(getJPanelTestPrograms(), new GridBagConstraints(0, 4, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0));
+			jPanel2.add(getJPanelVacuum(), new GridBagConstraints(0, 5, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0));
+			jPanel2.add(getJPanelPower(), new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0));
+			jPanel2.add(getJPanel4(), new GridBagConstraints(0, 6, 1, 1, 0.0, 0.0, GridBagConstraints.NORTHWEST, GridBagConstraints.HORIZONTAL, new Insets(0, 5, 0, 5), 0, 0));
+		}
+		return jPanel2;
+	}
+	
+	private JPanel getJPanel3() {
+		if(jPanel3 == null) {
+			jPanel3 = new JPanel();
+			jPanel3.setVisible(false);
+			GridBagLayout jPanel3Layout = new GridBagLayout();
+			jPanel3Layout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1};
+			jPanel3Layout.rowHeights = new int[] {7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7};
+			jPanel3Layout.columnWeights = new double[] {0.1};
+			jPanel3Layout.columnWidths = new int[] {7};
+			jPanel3.setLayout(jPanel3Layout);
+			{
+				JButton but_nyi = new JButton();
+				jPanel3.add(but_nyi, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				but_nyi.setText("nyi");
+				but_nyi.setVisible(false);
+			}
+			{
+				JButton but_nyi2 = new JButton();
+				jPanel3.add(but_nyi2, new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				but_nyi2.setText("nyi2");
+				but_nyi2.setVisible(false);
+			}
+			{
+				JButton but_nyi3 = new JButton();
+				jPanel3.add(but_nyi3, new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				but_nyi3.setText("nyi3");
+				but_nyi3.setVisible(false);
+			}
+			{
+				JButton but_nyi4 = new JButton();
+				jPanel3.add(but_nyi4, new GridBagConstraints(0, 3, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				but_nyi4.setText("nyi4");
+				but_nyi4.setVisible(false);
+			}
+			{
+				JButton but_nyi5 = new JButton();
+				jPanel3.add(but_nyi5, new GridBagConstraints(0, 5, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				but_nyi5.setText("nyi5");
+				but_nyi5.setVisible(false);
+			}
+			{
+				JButton but_nyi6 = new JButton();
+				jPanel3.add(but_nyi6, new GridBagConstraints(0, 6, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				but_nyi6.setText("nyi6");
+				but_nyi6.setVisible(false);
+			}
+			{
+				JButton but_nyi7 = new JButton();
+				jPanel3.add(but_nyi7, new GridBagConstraints(0, 8, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				but_nyi7.setText("nyi7");
+				but_nyi7.setVisible(false);
+			}
+			{
+				jButton2 = new JButton();
+				jPanel3.add(jButton2, new GridBagConstraints(0, 9, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				jButton2.setText("nyi5");
+				jButton2.setVisible(false);
+			}
+			{
+				jButton1 = new JButton();
+				jPanel3.add(jButton1, new GridBagConstraints(0, 10, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				jButton1.setText("nyi6");
+				jButton1.setVisible(false);
+			}
+			{
+				jButton3 = new JButton();
+				jPanel3.add(jButton3, new GridBagConstraints(0, 11, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				jButton3.setText("nyi3");
+				jButton3.setVisible(false);
+			}
+			{
+				jButton4 = new JButton();
+				jPanel3.add(jButton4, new GridBagConstraints(0, 12, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(0, 0, 0, 0), 0, 0));
+				jButton4.setText("nyi2");
+				jButton4.setVisible(false);
+			}
+		}
+		return jPanel3;
+	}
+	
+	private JPanel getJPanelModes() {
+		if(jPanelModes == null) {
+			jPanelModes = new JPanel();
+			GridBagLayout jPanelModesLayout = new GridBagLayout();
+			jPanelModesLayout.rowWeights = new double[] {0.1, 0.1, 0.1, 0.1, 0.1};
+			jPanelModesLayout.rowHeights = new int[] {7, 7, 7, 7, 7};
+			jPanelModesLayout.columnWeights = new double[] {0.1, 0.1};
+			jPanelModesLayout.columnWidths = new int[] {95, 95};
+			jPanelModes.setLayout(jPanelModesLayout);
+			jPanelModes.setBorder(BorderFactory.createTitledBorder("Modes"));
+			{
+				JButton but_spot = new JButton();
+				jPanelModes.add(but_spot, new GridBagConstraints(0, 3, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_spot.setText("spot");
+				but_spot.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_spot.addActionListener(this);
+			}
+			{
+				JButton but_full = new JButton();
+				jPanelModes.add(but_full, new GridBagConstraints(0, 2, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_full.setText("full");
+				but_full.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_full.addActionListener(this);
+			}
+			{
+				JButton but_safe = new JButton();
+				jPanelModes.add(but_safe, new GridBagConstraints(0, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_safe.setText("safe");
+				but_safe.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_safe.addActionListener(this);
+			}
+			{
+				JButton but_dock = new JButton();
+				jPanelModes.add(but_dock, new GridBagConstraints(1, 4, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_dock.setText("dock");
+				but_dock.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_dock.addActionListener(this);		
+			}
+			{
+				JButton but_max = new JButton();
+				jPanelModes.add(but_max, new GridBagConstraints(0, 4, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_max.setText("max");
+				but_max.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_max.addActionListener(this);
+			}
+			{
+				JButton but_clean = new JButton();
+				jPanelModes.add(but_clean, new GridBagConstraints(1, 3, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_clean.setText("clean");
+				but_clean.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_clean.addActionListener(this);
+			}
+			{
+				JButton but_wakeup = new JButton();
+				jPanelModes.add(but_wakeup, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_wakeup.setText("wakeup");
+				but_wakeup.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_wakeup.addActionListener(this);
+			}
+			{
+				JButton but_reset = new JButton();
+				jPanelModes.add(but_reset, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_reset.setText("reset");
+				but_reset.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_reset.addActionListener(this);
+			}
+			{
+				JButton but_passive = new JButton();
+				jPanelModes.add(but_passive, new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_passive.setText("passive");
+				but_passive.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_passive.addActionListener(this);		
+			}
+		}
+		return jPanelModes;
+	}
+	
+	private JPanel getJPanelSounds() {
+		if(jPanelSounds == null) {
+			jPanelSounds = new JPanel();
+			GridBagLayout jPanelSoundsLayout = new GridBagLayout();
+			jPanelSoundsLayout.rowWeights = new double[] {0.1, 0.1};
+			jPanelSoundsLayout.rowHeights = new int[] {7, 7};
+			jPanelSoundsLayout.columnWeights = new double[] {0.1, 0.1};
+			jPanelSoundsLayout.columnWidths = new int[] {95, 95};
+			jPanelSounds.setLayout(jPanelSoundsLayout);
+			jPanelSounds.setBorder(BorderFactory.createTitledBorder("Sounds"));
+			{
+				JButton but_OSU = new JButton();
+				jPanelSounds.add(but_OSU, new GridBagConstraints(1, 1, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_OSU.setText("OSU");
+				but_OSU.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_OSU.addActionListener(this);		
+			}
+			{
+				JButton but_beeplo = new JButton();
+				jPanelSounds.add(but_beeplo, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_beeplo.setText("beep-lo");
+				but_beeplo.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_beeplo.addActionListener(this);
+			}
+			{
+				JButton but_beephi = new JButton();
+				jPanelSounds.add(but_beephi, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_beephi.setText("beep-hi");
+				but_beephi.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_beephi.addActionListener(this);
+			}
+		}
+		return jPanelSounds;
+	}
+	
+	private JPanel getJPanelTestPrograms() {
+		if(jPanelTestPrograms == null) {
+			jPanelTestPrograms = new JPanel();
+			GridBagLayout jPanelTestProgramsLayout = new GridBagLayout();
+			jPanelTestProgramsLayout.rowWeights = new double[] {0.1};
+			jPanelTestProgramsLayout.rowHeights = new int[] {7};
+			jPanelTestProgramsLayout.columnWeights = new double[] {0.1, 0.1};
+			jPanelTestProgramsLayout.columnWidths = new int[] {95, 95};
+			jPanelTestPrograms.setLayout(jPanelTestProgramsLayout);
+			jPanelTestPrograms.setBorder(BorderFactory.createTitledBorder("Test Programs"));
+			{
+				JButton but_TribbleOn = new JButton();
+				jPanelTestPrograms.add(but_TribbleOn, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_TribbleOn.setText("Tribble On");
+				but_TribbleOn.setPreferredSize(new java.awt.Dimension(93, 26));
+				but_TribbleOn.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_TribbleOn.setSize(93, 26);
+				but_TribbleOn.addActionListener(this);
+			}
+			{
+				JButton but_test = new JButton();
+				jPanelTestPrograms.add(but_test, new GridBagConstraints(1, 0, 2, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));				
+				but_test.setText("LogoA.square");
+				but_test.setPreferredSize(new java.awt.Dimension(93, 26));
+				but_test.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_test.setSize(93, 26);
+				but_test.addActionListener(this);
+			}
+		}
+		return jPanelTestPrograms;
+	}
+	
+	private JPanel getJPanel4() {
+		if(jPanelSensors == null) {
+			jPanelSensors = new JPanel();
+			GridBagLayout jPanelSensorsLayout = new GridBagLayout();
+			jPanelSensorsLayout.rowWeights = new double[] {0.1};
+			jPanelSensorsLayout.rowHeights = new int[] {7};
+			jPanelSensorsLayout.columnWeights = new double[] {0.1, 0.1};
+			jPanelSensorsLayout.columnWidths = new int[] {95, 95};
+			jPanelSensors.setLayout(jPanelSensorsLayout);
+			jPanelSensors.setBorder(BorderFactory.createTitledBorder(null, "Sensors", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION));
+			{
+				JButton but_chargedata = new JButton();
+				jPanelSensors.add(but_chargedata, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 0, 0));
+				but_chargedata.setText("chargedata");
+				but_chargedata.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_chargedata.setPreferredSize(new java.awt.Dimension(93, 26));
+				but_chargedata.setSize(93, 26);
+				but_chargedata.addActionListener(this);
+			}
+			{
+				JButton but_sensors = new JButton();
+				jPanelSensors.add(but_sensors, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.NONE, new Insets(2, 2, 2, 2), 0, 0));
+				but_sensors.setText("sensors");
+				but_sensors.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_sensors.setPreferredSize(new java.awt.Dimension(93, 26));
+				but_sensors.setSize(93, 26);
+				but_sensors.addActionListener(this);
+			}
+		}
+		return jPanelSensors;
+	}
+	
+	private JPanel getJPanelVacuum() {
+		if(jPanelVacuum == null) {
+			jPanelVacuum = new JPanel();
+			GridBagLayout jPanelVacuumLayout = new GridBagLayout();
+			jPanelVacuumLayout.rowWeights = new double[] {0.1};
+			jPanelVacuumLayout.rowHeights = new int[] {7};
+			jPanelVacuumLayout.columnWeights = new double[] {0.1, 0.1};
+			jPanelVacuumLayout.columnWidths = new int[] {95, 95};
+			jPanelVacuum.setLayout(jPanelVacuumLayout);
+			jPanelVacuum.setBorder(BorderFactory.createTitledBorder(BorderFactory.createTitledBorder(""), "Vacuum", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION));
+			{
+				JButton but_vacon = new JButton();
+				jPanelVacuum.add(but_vacon, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_vacon.setText("vacuum-on");
+				but_vacon.setSize(93, 26);
+				but_vacon.setPreferredSize(new java.awt.Dimension(93, 26));
+				but_vacon.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_vacon.addActionListener(this);
+			}
+			{
+				JButton but_vacoff = new JButton();
+				but_vacoff.setLayout(null);
+				jPanelVacuum.add(but_vacoff, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_vacoff.setText("vacuum-off");
+				but_vacoff.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_vacoff.setPreferredSize(new java.awt.Dimension(93, 26));
+				but_vacoff.setSize(93, 26);
+				but_vacoff.addActionListener(this);
+			}
+		}
+		return jPanelVacuum;
+	}
+	
+	private JPanel getJPanelPower() {
+		if(jPanelPower == null) {
+			jPanelPower = new JPanel();
+			GridBagLayout jPanelPowerLayout = new GridBagLayout();
+			jPanelPower.setBorder(BorderFactory.createTitledBorder(null, "Power", TitledBorder.LEADING, TitledBorder.DEFAULT_POSITION));
+			jPanelPowerLayout.rowWeights = new double[] {0.1};
+			jPanelPowerLayout.rowHeights = new int[] {7};
+			jPanelPowerLayout.columnWeights = new double[] {0.1, 0.1};
+			jPanelPowerLayout.columnWidths = new int[] {95, 95};
+			jPanelPower.setLayout(jPanelPowerLayout);
+			{
+				JButton but_powerOn = new JButton();
+				jPanelPower.add(but_powerOn, new GridBagConstraints(0, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_powerOn.setText("power-on");
+				but_powerOn.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_powerOn.addActionListener(this);
+			}
+			{
+				JButton but_power = new JButton();
+				jPanelPower.add(but_power, new GridBagConstraints(1, 0, 1, 1, 0.0, 0.0, GridBagConstraints.CENTER, GridBagConstraints.HORIZONTAL, new Insets(2, 2, 2, 2), 0, 0));
+				but_power.setText("power-off");
+				but_power.setMargin(new java.awt.Insets(2, 2, 2, 2));
+				but_power.addActionListener(this);
+			}
+		}
+		return jPanelPower;
+	}
+	
+	private JTextPane getJTextPane1() {
+		if(jTextPane1 == null) {
+			jTextPane1 = new JTextPane();
+			jTextPane1.setText("Set the Protocal, then connect via a network or Serial connection.\nThen you can use the Commands, LED's, and/or Movement controls to operate your Roomba.");
+			jTextPane1.setBorder(BorderFactory.createEmptyBorder(0, 0, 0, 0));
+			jTextPane1.setOpaque(false);
+		}
+		return jTextPane1;
+	}
+
+}