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/*
* roombacomm.SimpleTest
*
* Copyright (c) 2005 Tod E. Kurt, tod@todbot.com
*
* 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;
/**
A simple test of RoombaComm and RoombaCommSerial functionality.
<p>
Run it with something like: <pre>
java roombacomm.SimpleTest /dev/cu.KeySerial1<br>
Usage:
roombacomm.SimpleTest serialportname [protocol] [options]<br>
where:
protocol (optional) is SCI or OI
[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
-flush -- flush on sends(), normally not needed
* </pre>
*
*/
public class SimpleTest {
static String usage =
"Usage: \n"+
" roombacomm.SimpleTest <serialportname> [protocol] [options]\n" +
"where:\n"+
"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"+
" -flush -- flush on sends(), normally not needed\n"+
"\n";
static boolean debug = false;
static boolean hwhandshake = false;
static boolean flush = 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[1].equals("OI"))) {
roombacomm.setProtocol(args[i]);
} else 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);
else if( args[i].endsWith("flush") )
flush = true;
}
roombacomm.debug = debug;
roombacomm.flushOutput = flush;
String portlist[] = roombacomm.listPorts();
System.out.println("Available ports:");
for(int i=0;i<portlist.length;i++)
System.out.println(" "+i+": "+portlist[i]);
if( ! roombacomm.connect( portname ) ) {
System.out.println("Couldn't connect to "+portname);
System.exit(1);
}
System.out.println("Roomba startup on port "+portname);
roombacomm.startup();
roombacomm.control();
roombacomm.pause(30);
System.out.println("Checking for Roomba... ");
if( roombacomm.updateSensors() )
System.out.println("Roomba found!");
else
System.out.println("No Roomba. :( Is it turned on?");
//roombacomm.updateSensors();
System.out.println("Playing some notes");
roombacomm.playNote( 72, 10 ); // C
roombacomm.pause( 200 );
roombacomm.playNote( 79, 10 ); // G
roombacomm.pause( 200 );
roombacomm.playNote( 76, 10 ); // E
roombacomm.pause( 200 );
System.out.println("Spinning left, then right");
roombacomm.spinLeft();
roombacomm.pause(1000);
roombacomm.spinRight();
roombacomm.pause(1000);
roombacomm.stop();
System.out.println("Going forward, then backward");
roombacomm.goForward();
roombacomm.pause(1000);
roombacomm.goBackward();
roombacomm.pause(1000);
roombacomm.stop();
System.out.println("Moving via send()");
byte cmd[] = {(byte)RoombaComm.DRIVE,
(byte)0x00,(byte)0xfa, (byte)0x00,(byte)0x00};
roombacomm.send( cmd ) ;
roombacomm.pause(1000);
roombacomm.stop();
cmd[1] = (byte)0xff;
cmd[2] = (byte)0x05;
roombacomm.send( cmd ) ;
roombacomm.pause(1000);
roombacomm.stop();
System.out.println("Disconnecting");
roombacomm.disconnect();
System.out.println("Done");
}
}
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