added stuff

1 files changed, 139 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/Spiro1.java b/roombacomm-client/src/com/hackingroomba/roombacomm/Spiro1.java
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+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/Spiro1.java
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+/*
+ * roombacomm.Spiro1 -- a Spirograph-like example 
+ *
+ *  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.*;
+
+/**
+  A Spirograph-like example
+ <p>
+  Run it with something like: <pre>
+   java roombacomm.Spiro1 /dev/cu.KeySerial1 velocity radius waittime<br>
+  Usage: \n"+
+    roombacomm.Spiro1 <serialportname> [protocol] <velocity> <radius> <waittime> [options]<br>
+  where: 
+  protocol (optional) is SCI or OI
+  velocity and radius in mm, waittime in milliseconds
+  [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 Spiro1 {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.Spiro1 <serialportname> [protocol] <velocity> <radius> <waittime> [options]\n" +
+        "where: protocol (optional) is SCI or OI\n" +
+        "velocity and radius in mm, waittime in milliseconds\n"+
+        "[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"+
+        "\n";
+    static boolean debug = false;
+    static boolean hwhandshake = false;
+
+    public static void main(String[] args) {
+        if( args.length < 4 ) {
+            System.out.println( usage );
+            System.exit(0);
+        }
+
+        String portname = args[0];  // e.g. "/dev/cu.KeySerial1"
+        RoombaCommSerial roombacomm = new RoombaCommSerial();
+        int argOffset = 0;
+        if (args[1].equals("SCI") || (args[1].equals("OI"))) {
+        	roombacomm.setProtocol(args[1]);
+        	argOffset = 1;
+        }
+
+        int velocity=0, radius=0, waittime=0;
+        try { 
+            velocity = Integer.parseInt( args[1+argOffset] );
+            radius   = Integer.parseInt( args[2+argOffset] );
+            waittime = Integer.parseInt( args[3+argOffset] );
+        } catch( Exception e ) {
+            System.err.println("Couldn't parse velocity & radius");
+            System.exit(1);
+        }
+
+        for( int i=4+argOffset; i < args.length; i++ ) {
+            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(30);
+        roombacomm.full();
+        roombacomm.pause(50);
+
+        int v = velocity;
+        int r = radius;
+        int dr = -10;
+        
+        boolean done = false;
+        while( !done ) {
+            roombacomm.drive( v,r );
+            roombacomm.pause( waittime );
+            roombacomm.drive( v, (int) r / Math.abs(dr) );
+            roombacomm.pause( waittime );
+            r += -10;
+            done = keyIsPressed();
+        }
+
+        roombacomm.stop();
+        roombacomm.safe();
+        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;
+    }
+}
+