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/*
* roombacomm.Spiro1 -- 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<br>
Usage: \n"+
roombacomm.Spiro1 <serialportname> [protocol] <velocity> <radius> <waittime> [options]<br>
where:
protocol (optional) is SCI or OI
velocity and radius in mm, waittime 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 Spiro1 {
static String usage =
"Usage: \n"+
" roombacomm.Spiro1 <serialportname> [protocol] <velocity> <radius> <waittime> [options]\n" +
"where: protocol (optional) is SCI or OI\n" +
"velocity and radius in mm, waittime in milliseconds\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) {
if( args.length < 4 ) {
System.out.println( usage );
System.exit(0);
}
String 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;
}
int velocity=0, radius=0, waittime=0;
try {
velocity = Integer.parseInt( args[1+argOffset] );
radius = Integer.parseInt( args[2+argOffset] );
waittime = Integer.parseInt( args[3+argOffset] );
} catch( Exception e ) {
System.err.println("Couldn't parse velocity & radius");
System.exit(1);
}
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( 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 = -10;
boolean done = false;
while( !done ) {
roombacomm.drive( v,r );
roombacomm.pause( waittime );
roombacomm.drive( v, (int) r / Math.abs(dr) );
roombacomm.pause( waittime );
r += -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;
}
}
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