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package com.hackingroomba.roombacomm;
public class IdoTest1 {
/**
* @param args
* @throws Exception
*/
public static void main(String[] args) throws Exception {
RoombaCommSerial roomba = new RoombaCommSerial();
String[] ports = roomba.listPorts(); // if implemented
roomba.setProtocol("OI");
roomba.connect("/dev/ttyUSB0");
roomba.startup();
//roomba.control();
// roomba.send(new byte[] {(byte) 136, (byte) 9});
// Thread.sleep((long)15);
// roomba.send(new byte[] {(byte) 141, (byte) 1});
//roomba.send(9);
//roomba.max();
//roomba.send(new int[] {( 136, 0});
//
byte cmd[] = { (byte)roomba.SENSORS, (byte)0};
boolean success = roomba.send(cmd);
String s = roomba.getSensorsAsString();
System.out.println(s);
//boolean success = roomba.updateSensors();
//roomba.send(new byte[] {(byte)148, (byte)1, (byte)2});
//roomba.getSensorData(4);
//roomba.sensors(2);
roomba.send(new byte[] {(byte) 136, (byte) 255});
roomba.disconnect();
}
}
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