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/*
* roombacomm.LogoA
*
* 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;
/**
Some example Logo-like things to do
<p>
Run it with something like: <pre>
java roombacomm.LogoA /dev/cu.KeySerial1<br>
Usage:
roombacomm.LogoA serialportname [protocol] [options]<br>
where:
protocol (optional) is SCI or OI
[options] can be one or more of:
-debug -- turn on debug output
</pre>
*/
public class LogoA {
static String usage =
"Usage: \n"+
" roombacomm.LogoA <serialportname> [options]\n" +
"where protocol (optional) is SCI or OI\n"+
"[options] can be one or more of:\n"+
" -debug -- turn on debug output\n"+
"\n";
static boolean debug = false;
public static void main(String[] args) {
if( args.length == 0 ) {
System.out.println( usage );
System.exit(0);
}
String portname = args[0]; // e.g. "/dev/cu.KeySerial1"
RoombaCommSerial roombacomm = new RoombaCommSerial();
for( int i=1; i < args.length; i++ ) {
if (args[i].equals("SCI") || (args[i].equals("OI"))) {
roombacomm.setProtocol(args[i]);
} else if( args[i].endsWith("debug") )
debug = 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);
for( int i=0; i<8; i++ ) {
roombacomm.spinRight( 45 );
square( roombacomm, 100 );
}
System.out.println("Disconnecting");
roombacomm.disconnect();
System.out.println("Done");
}
/**
* Make a square with a Roomba.
* Leaves Roomba in same place it began (theoretically)
* @param rc RoombaComm object connected to a Roomba
* @param size size of square in mm
*/
public static void square(RoombaComm rc, int size) {
rc.goForward( size );
rc.spinLeft( 90 );
rc.goForward( size );
rc.spinLeft( 90 );
rc.goForward( size );
rc.spinLeft( 90 );
rc.goForward( size );
rc.spinLeft( 90 );
}
}
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