added stuff

1 files changed, 144 insertions, 0 deletions

diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/Spiro2.java b/roombacomm-client/src/com/hackingroomba/roombacomm/Spiro2.java
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+++ b/roombacomm-client/src/com/hackingroomba/roombacomm/Spiro2.java
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+/*
+ * roombacomm.Spiro2 -- 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
+ *  </pre>
+ *
+ */
+public class Spiro2 {
+    
+    static String usage = 
+        "Usage: \n"+
+        "  roombacomm.Spiro2 <serialportname> <velocity> <radius> <radius2> <waittime> <waittime2> [options]\n" +
+        "where [options] can be one or more of:\n"+
+        " -debug       -- turn on debug output\n"+
+        " -hwhandshake -- use hardware-handshaking, for Windows Bluetooth\n"+
+        "\n";
+    static boolean debug = false;
+    static boolean hwhandshake = false;
+
+    public static void main(String[] args) {
+        if( args.length < 6 ) {
+            System.out.println( usage );
+            System.exit(0);
+        }
+
+        String portname = args[0];  // e.g. "/dev/cu.KeySerial1"
+        int velocity=0, radius=0, waittime=0, waittime2=0, radius2=0;
+        try { 
+            velocity = Integer.parseInt( args[1] );
+            radius   = Integer.parseInt( args[2] );
+            radius2  = Integer.parseInt( args[3] );
+            waittime = Integer.parseInt( args[4] );
+            waittime2 = Integer.parseInt( args[5] );
+        } catch( Exception e ) {
+            System.err.println("Couldn't parse arguments");
+            System.exit(1);
+        }
+
+        for( int i=4; i < args.length; i++ ) {
+            if( args[i].endsWith("debug") )
+                debug = true;
+            else if( args[i].endsWith("hwhandshake") )
+                hwhandshake = true;
+        }
+
+        RoombaCommSerial roombacomm = new RoombaCommSerial();
+        roombacomm.debug = debug;
+        roombacomm.waitForDSR = hwhandshake;
+
+        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 = dradius;
+        
+        int w,dr;
+
+        boolean done = false;
+        while( !done ) {
+            roombacomm.drive( velocity,radius );
+            //roombacomm.pause( waittime );
+
+            // lets try some easing
+            w = waittime / 10; // divide into 10 msec chucks
+            dr = (radius2 - radius) / 10;
+            System.out.println("easing "+w+" times at "+dr+" radius");
+            for( int i =0; i<w; i++) { 
+                roombacomm.drive( velocity,radius + dr );
+                roombacomm.pause( 10 );
+            }
+
+            roombacomm.drive( velocity, radius2 );
+            //roombacomm.pause( waittime2 );
+
+            // lets try some easing
+            w = waittime2 / 10; // divide into 10 msec chucks
+            dr = (radius - radius2) / 10;
+            System.out.println("easing "+w+" times at "+dr+" radius");
+            for( int i =0; i<w; i++) { 
+                roombacomm.drive( velocity,radius2 + dr );
+                roombacomm.pause( 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;
+    }
+}
+