1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
|
package com.hackingroomba.roombacomm;
import java.io.*;
/**
* Make Tribble noises
* <p>
* Run it with something like: <pre>
* java roombacomm.Tribble /dev/cu.KeySerial1 [protocol]<br>
* Where: protocol (optional) is SCI or OI
* </pre>
*
*/
public class Tribble {
static RoombaCommSerial roombacomm;
public static void main(String[] args) {
new Tribble(args);
}
Tribble(String[] args)
{
if( args.length == 0 ) {
System.out.println("Tribble <serialportname> [protocol]\nWhere: protocol (optional) is SCI or OI");
System.exit(0);
}
String portname = args[0]; // e.g. "/dev/cu.KeySerial1"
roombacomm = new RoombaCommSerial();
for( int i=1; i < args.length; i++ ) {
if (args[i].equals("SCI") || (args[1].equals("OI"))) {
roombacomm.setProtocol(args[i]);
}
}
if( ! roombacomm.connect( portname ) ) {
System.err.println("Couldn't connect to "+portname);
System.exit(1);
}
System.err.println("Roomba startup");
roombacomm.startup();
roombacomm.control();
roombacomm.pause(100);
createTribblePurrSong();
System.out.println("Press return to exit.");
boolean done = false;
while( !done ) {
purr();
if( Math.random() < 0.1 )
bark();
roombacomm.pause(1500 + (int)(Math.random()*500) );
done = keyIsPressed();
}
roombacomm.disconnect();
System.exit(0);
}
public static void purr() {
System.out.println("purr");
roombacomm.playSong( 5 );
for( int i=0; i<5; i++ ) {
roombacomm.spinLeftAt( 75 );
roombacomm.pause( 100 );
roombacomm.spinRightAt( 75 );
roombacomm.pause( 100 );
roombacomm.stop();
}
}
public static void createTribblePurrSong() {
int song[] =
{ 68,4, 67,4, 66,4, 65,4,
64,4, 63,4, 62,4, 61,4,
60,4, 59,4, 60,4, 61,4,
};
roombacomm.createSong( 5, song );
}
public static void bark() {
System.out.println("bark");
roombacomm.vacuum(true);
roombacomm.playNote( 50, 5 );
roombacomm.pause(150);
roombacomm.vacuum(false);
}
/** 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;
}
}
|
