diff options
Diffstat (limited to 'roombacomm-client/src/com/hackingroomba/roombacomm/Drive.java')
| -rw-r--r-- | roombacomm-client/src/com/hackingroomba/roombacomm/Drive.java | 141 |
1 files changed, 141 insertions, 0 deletions
diff --git a/roombacomm-client/src/com/hackingroomba/roombacomm/Drive.java b/roombacomm-client/src/com/hackingroomba/roombacomm/Drive.java new file mode 100644 index 0000000..57685bc --- /dev/null +++ b/roombacomm-client/src/com/hackingroomba/roombacomm/Drive.java @@ -0,0 +1,141 @@ +/* + * roombacomm.Drive -- test out the DRIVE command + * + * 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 program for driving Roomba. + * <p> + * Run it with something like: <pre> + * java roombacomm.Drive /dev/cu.KeySerial1 byte1 byte2 byte3 byte4<br> + * Usage: + * roombacomm.Drive serialportname [protocol] velocity radius waittime [options]<br> + * where protocol (optional) is SCI or OI + * velocity is in mm/sec + * radius is mm from the centerpoint + * waittime is 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 Drive { + + static String usage = + "Usage: \n"+ + " roombacomm.Drive <serialportname> [protocol] <velocity> <radius> <waittime> [options]\n" + + "where protocol (optional) is SCI or OI\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) { + new Drive(args); + } + + Drive(String[] args) + { + int argIndx; + String portname, protocol; + if( args.length < 4 ) { + System.out.println( usage ); + System.exit(0); + } + + /* + * Parse port & protocol + */ + 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; + } + + /* + * Parse command arguments + */ + int velocity=0, radius=0, waittime=0; + try { + velocity = Integer.parseInt( args[1+argOffset] ); // velocity would be the 1st numeric + radius = Integer.parseInt( args[2+argOffset] ); + waittime = Integer.parseInt( args[3+argOffset] ); + } catch( Exception e ) { + System.err.println("Couldn't parse velocity, radius, or waittime"); + System.exit(1); + } + + + /* + * Parse options + */ + 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( roombacomm.getPortname())) { + System.out.println("Couldn't connect to "+portname); + System.exit(1); + } + System.out.println("Using port: " + roombacomm.getPortname() + " protocol: " + + roombacomm.getProtocol() + " velocity: " + velocity + " radius: " + + radius + " waittime: " + waittime + "\n"); + + System.out.println("Roomba startup"); + roombacomm.startup(); + roombacomm.pause(100); + roombacomm.control(); + roombacomm.playNote( 72, 10 ); // C , test note + roombacomm.pause( 200 ); + if( roombacomm.updateSensors() ) + System.out.println("Roomba found!\n"); + else + System.out.println("No Roomba. :( Is it turned on?\n"); + + roombacomm.drive( velocity, radius ); + roombacomm.pause(waittime); + roombacomm.stop(); + + System.out.println("Disconnecting"); + roombacomm.disconnect(); + + System.out.println("Done"); + } + +} + |