diff --git a/MINDdroidCV_MINDSTORMS/AndroidManifest.xml b/MINDdroidCV_MINDSTORMS/AndroidManifest.xml
index 43bbd40..4feccf1 100644
--- a/MINDdroidCV_MINDSTORMS/AndroidManifest.xml
+++ b/MINDdroidCV_MINDSTORMS/AndroidManifest.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
 	package="com.lego.minddroid" android:versionCode="3" android:installLocation="auto"
-	android:versionName="1.2">
-	<uses-sdk android:minSdkVersion="7" />
+	android:versionName="1.3">
+	<uses-sdk android:minSdkVersion="8" />
 
     <supports-screens android:resizeable="true"
                       android:smallScreens="true" 
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diff --git a/MINDdroidCV_MINDSTORMS/bin/org/opencv/video/KalmanFilter.class b/MINDdroidCV_MINDSTORMS/bin/org/opencv/video/KalmanFilter.class
deleted file mode 100644
index 1dfba53..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/bin/org/opencv/video/Video.class b/MINDdroidCV_MINDSTORMS/bin/org/opencv/video/Video.class
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diff --git a/MINDdroidCV_MINDSTORMS/default.properties b/MINDdroidCV_MINDSTORMS/default.properties
deleted file mode 100644
index cdb47e9..0000000
--- a/MINDdroidCV_MINDSTORMS/default.properties
+++ /dev/null
@@ -1,12 +0,0 @@
-# This file is automatically generated by Android Tools.
-# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
-# 
-# This file must be checked in Version Control Systems.
-# 
-# To customize properties used by the Ant build system use,
-# "build.properties", and override values to adapt the script to your
-# project structure.
-android.library.reference.1=../../OpenCV-2.3.1
-
-# Project target.
-target=android-8
diff --git a/MINDdroidCV_MINDSTORMS/jni/Android.mk b/MINDdroidCV_MINDSTORMS/jni/Android.mk
index c904a4a..1289443 100644
--- a/MINDdroidCV_MINDSTORMS/jni/Android.mk
+++ b/MINDdroidCV_MINDSTORMS/jni/Android.mk
@@ -3,7 +3,8 @@ LOCAL_PATH := $(call my-dir)
 include $(CLEAR_VARS)
 
 OPENCV_CAMERA_MODULES:=off
-include /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/OpenCV.mk
+OPENCV_LIB_TYPE:=STATIC
+include C:\Users\miguel.astor\Documents\workspace\OpenCV-2.4.0\share\OpenCV\OpenCV.mk
 
 LOCAL_MODULE    := mixed_sample
 LOCAL_SRC_FILES := jni_part.cpp
diff --git a/MINDdroidCV_MINDSTORMS/jni/Application.mk b/MINDdroidCV_MINDSTORMS/jni/Application.mk
index 4ab5ee4..c7de9c7 100644
--- a/MINDdroidCV_MINDSTORMS/jni/Application.mk
+++ b/MINDdroidCV_MINDSTORMS/jni/Application.mk
@@ -1,3 +1,3 @@
 APP_STL := gnustl_static
 APP_CPPFLAGS := -frtti -fexceptions
-APP_ABI := armeabi
+APP_ABI := armeabi-v7a
diff --git a/MINDdroidCV_MINDSTORMS/jni/includeOpenCV.mk~ b/MINDdroidCV_MINDSTORMS/jni/includeOpenCV.mk~
index ea58ea4..c937d95 100644
--- a/MINDdroidCV_MINDSTORMS/jni/includeOpenCV.mk~
+++ b/MINDdroidCV_MINDSTORMS/jni/includeOpenCV.mk~
@@ -1 +1 @@
-OPENCV_MK_PATH:=../../OpenCV-2.3.1/share/OpenCV/OpenCV.mk
+OPENCV_MK_PATH:=C:\Users\Administrador\workspace\OpenCV-2.4.0\share\OpenCV\OpenCV.mk
diff --git a/MINDdroidCV_MINDSTORMS/jni/jni_part.cpp b/MINDdroidCV_MINDSTORMS/jni/jni_part.cpp
index 7a9e97a..17bd762 100644
--- a/MINDdroidCV_MINDSTORMS/jni/jni_part.cpp
+++ b/MINDdroidCV_MINDSTORMS/jni/jni_part.cpp
@@ -8,7 +8,7 @@ using namespace std;
 using namespace cv;
 
 extern "C" {
-  JNIEXPORT void JNICALL Java_com_lego_minddroid_SampleView_FindLight(JNIEnv* env, jobject thiz, jint width, jint height, jbyteArray yuv, jintArray bgra, jdoubleArray array)
+  JNIEXPORT void JNICALL Java_com_lego_minddroid_CameraGLRenderer_FindLight(JNIEnv* env, jobject thiz, jint width, jint height, jbyteArray yuv, jintArray bgra, jdoubleArray array)
 {
     jbyte* _yuv  = env->GetByteArrayElements(yuv, 0);
     jint*  _bgra = env->GetIntArrayElements(bgra, 0);
diff --git a/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/gdb.setup b/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/gdb.setup
new file mode 100644
index 0000000..9cb5305
--- /dev/null
+++ b/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/gdb.setup
@@ -0,0 +1,2 @@
+set solib-search-path ./obj/local/armeabi-v7a

+directory C:/android-ndk-r8b/platforms/android-14/arch-arm/usr/include C:/android-ndk-r8b/sources/cxx-stl/gnu-libstdc++ C:/Users\miguel.astor\Documents\workspace\OpenCV-2.4.0\share\OpenCV\/../../include/opencv C:/Users\miguel.astor\Documents\workspace\OpenCV-2.4.0\share\OpenCV\/../../include C:/android-ndk-r8b/sources/cxx-stl/gnu-libstdc++/4.6/include C:/android-ndk-r8b/sources/cxx-stl/gnu-libstdc++/4.6/libs/armeabi-v7a/include jni

diff --git a/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/gdbserver b/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/gdbserver
new file mode 100644
index 0000000..1106165
Binary files /dev/null and b/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/gdbserver differ
diff --git a/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/libmixed_sample.so b/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/libmixed_sample.so
new file mode 100644
index 0000000..bfe61fd
Binary files /dev/null and b/MINDdroidCV_MINDSTORMS/libs/armeabi-v7a/libmixed_sample.so differ
diff --git a/MINDdroidCV_MINDSTORMS/libs/armeabi/gdb.setup b/MINDdroidCV_MINDSTORMS/libs/armeabi/gdb.setup
deleted file mode 100644
index 402270c..0000000
--- a/MINDdroidCV_MINDSTORMS/libs/armeabi/gdb.setup
+++ /dev/null
@@ -1,2 +0,0 @@
-set solib-search-path /home/rics/projects/android/MINDdroidCV/android/obj/local/armeabi
-directory /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++ /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/libs/armeabi/include /home/rics/projects/android/MINDdroidCV/android/jni
diff --git a/MINDdroidCV_MINDSTORMS/libs/armeabi/gdbserver b/MINDdroidCV_MINDSTORMS/libs/armeabi/gdbserver
deleted file mode 100755
index 39634a8..0000000
Binary files a/MINDdroidCV_MINDSTORMS/libs/armeabi/gdbserver and /dev/null differ
diff --git a/MINDdroidCV_MINDSTORMS/libs/armeabi/libmixed_sample.so b/MINDdroidCV_MINDSTORMS/libs/armeabi/libmixed_sample.so
deleted file mode 100755
index 7daee55..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/lint.xml b/MINDdroidCV_MINDSTORMS/lint.xml
new file mode 100644
index 0000000..ee0eead
--- /dev/null
+++ b/MINDdroidCV_MINDSTORMS/lint.xml
@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<lint>
+</lint>
\ No newline at end of file
diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibjasper.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibjasper.a
deleted file mode 100644
index f153e6b..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibjpeg.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibjpeg.a
deleted file mode 100644
index 4072770..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibpng.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibpng.a
deleted file mode 100644
index a30e47f..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibtiff.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/liblibtiff.a
deleted file mode 100644
index ac96345..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libmixed_sample.so b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libmixed_sample.so
deleted file mode 100755
index 5d7d476..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_androidcamera.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_androidcamera.a
deleted file mode 100644
index 6b31a2c..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_calib3d.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_calib3d.a
deleted file mode 100644
index 2df40c0..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_contrib.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_contrib.a
deleted file mode 100644
index d8b610f..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_core.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_core.a
deleted file mode 100644
index 1b4814b..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_features2d.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_features2d.a
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index 11f0e84..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_flann.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_flann.a
deleted file mode 100644
index 7965b65..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_highgui.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_highgui.a
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index 4f600f3..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_imgproc.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_imgproc.a
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index 142b65d..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_legacy.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_legacy.a
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index 77ce2e9..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_ml.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_ml.a
deleted file mode 100644
index 9beb65e..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_objdetect.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_objdetect.a
deleted file mode 100644
index 4a6112b..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_video.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libopencv_video.a
deleted file mode 100644
index 0dceba4..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libstdc++.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libstdc++.a
deleted file mode 100644
index e0d160a..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libzlib.a b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/libzlib.a
deleted file mode 100644
index 450cfd3..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/objs-debug/mixed_sample/jni_part.o b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/objs-debug/mixed_sample/jni_part.o
deleted file mode 100644
index c848722..0000000
Binary files a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/objs-debug/mixed_sample/jni_part.o and /dev/null differ
diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/objs-debug/mixed_sample/jni_part.o.d b/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/objs-debug/mixed_sample/jni_part.o.d
deleted file mode 100644
index 7f9ff3e..0000000
--- a/MINDdroidCV_MINDSTORMS/obj/local/armeabi-v7a/objs-debug/mixed_sample/jni_part.o.d
+++ /dev/null
@@ -1,143 +0,0 @@
-/home/rics/projects/android/MINDdroidCV/android/obj/local/armeabi-v7a/objs-debug/mixed_sample/jni_part.o: \
- /home/rics/projects/android/MINDdroidCV/android/jni/jni_part.cpp \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/jni.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/types_c.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/assert.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs_elf.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdlib.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/string.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/malloc.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/alloca.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/strings.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdint.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/posix_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/stddef.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/compiler.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/posix_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/kernel.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/sysmacros.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/memory.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/math.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/internal_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/syslimits.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/version.hpp \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/algorithm \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/cmath \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/complex \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/map \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/vector \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/operations.hpp \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/limits \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/mat.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/imgproc.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/types_c.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core_c.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/features2d/features2d.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/miniflann.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/defines.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/config.h
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/jni.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/types_c.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/assert.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs_elf.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdlib.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/string.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/malloc.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/alloca.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/strings.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdint.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/posix_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/stddef.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/compiler.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/posix_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/kernel.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/sysmacros.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/memory.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/math.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/internal_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/syslimits.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/version.hpp:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/algorithm:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/cmath:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/complex:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/map:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/vector:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/operations.hpp:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/limits:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/mat.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/imgproc.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/types_c.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core_c.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/features2d/features2d.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/miniflann.hpp:
-
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi/objs-debug/mixed_sample/jni_part.o b/MINDdroidCV_MINDSTORMS/obj/local/armeabi/objs-debug/mixed_sample/jni_part.o
deleted file mode 100644
index 2016bef..0000000
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diff --git a/MINDdroidCV_MINDSTORMS/obj/local/armeabi/objs-debug/mixed_sample/jni_part.o.d b/MINDdroidCV_MINDSTORMS/obj/local/armeabi/objs-debug/mixed_sample/jni_part.o.d
deleted file mode 100644
index 4961c03..0000000
--- a/MINDdroidCV_MINDSTORMS/obj/local/armeabi/objs-debug/mixed_sample/jni_part.o.d
+++ /dev/null
@@ -1,143 +0,0 @@
-/home/rics/projects/android/MINDdroidCV/android/obj/local/armeabi/objs-debug/mixed_sample/jni_part.o: \
- /home/rics/projects/android/MINDdroidCV/android/jni/jni_part.cpp \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/jni.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/types_c.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/assert.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs_elf.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdlib.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/string.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/malloc.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/alloca.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/strings.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdint.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/posix_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/stddef.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/compiler.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/posix_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/kernel.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/sysmacros.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/memory.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/math.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/internal_types.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/limits.h \
- /usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/syslimits.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/version.hpp \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/algorithm \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/cmath \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/complex \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/map \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/vector \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/operations.hpp \
- /usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/limits \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/mat.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/imgproc.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/types_c.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core_c.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/features2d/features2d.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/miniflann.hpp \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/defines.h \
- /usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/config.h
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/jni.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/types_c.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/assert.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/cdefs_elf.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdlib.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/string.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/malloc.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/alloca.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/strings.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/stdint.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/posix_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/stddef.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/compiler.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/posix_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/asm/types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/kernel.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/sysmacros.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/memory.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/math.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/linux/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/internal_types.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/machine/limits.h:
-
-/usr/local/android-ndk-r6/platforms/android-8/arch-arm/usr/include/sys/syslimits.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/version.hpp:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/algorithm:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/cmath:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/complex:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/map:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/vector:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/operations.hpp:
-
-/usr/local/android-ndk-r6/sources/cxx-stl/gnu-libstdc++/include/limits:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/mat.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/imgproc.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/imgproc/types_c.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/core/core_c.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/features2d/features2d.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/miniflann.hpp:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/defines.h:
-
-/usr/local/opencv-2.3.1-android/OpenCV-2.3.1/share/OpenCV/../../include/opencv2/flann/config.h:
diff --git a/MINDdroidCV_MINDSTORMS/project.properties b/MINDdroidCV_MINDSTORMS/project.properties
new file mode 100644
index 0000000..b7c2081
--- /dev/null
+++ b/MINDdroidCV_MINDSTORMS/project.properties
@@ -0,0 +1,14 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system edit
+# "ant.properties", and override values to adapt the script to your
+# project structure.
+#
+# To enable ProGuard to shrink and obfuscate your code, uncomment this (available properties: sdk.dir, user.home):
+#proguard.config=${sdk.dir}/tools/proguard/proguard-android.txt:proguard-project.txt
+
+# Project target.
+target=android-10
diff --git a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/BTCommunicator.java b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/BTCommunicator.java
index 90f41c1..762ff33 100644
--- a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/BTCommunicator.java
+++ b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/BTCommunicator.java
@@ -15,7 +15,7 @@
  *
  *   You should have received a copy of the GNU General Public License
  *   along with MINDdroid.  If not, see <http://www.gnu.org/licenses/>.
-**/
+ **/
 
 package com.lego.minddroid;
 
@@ -40,439 +40,490 @@ import android.os.Message;
  * by the owners, i.e. calling the send/recive methods by themselves.
  */
 public class BTCommunicator extends Thread {
-    public static final int MOTOR_A = 0;
-    public static final int MOTOR_B = 1;
-    public static final int MOTOR_C = 2;
-    public static final int MOTOR_B_ACTION = 40;
-    public static final int MOTOR_RESET = 10;
-    public static final int DO_BEEP = 51;
-    public static final int DO_ACTION = 52;    
-    public static final int READ_MOTOR_STATE = 60;
-    public static final int GET_FIRMWARE_VERSION = 70;
-    public static final int DISCONNECT = 99;
+	public static final int MOTOR_A = 0;
+	public static final int MOTOR_B = 1;
+	public static final int MOTOR_C = 2;
+	public static final int MOTOR_B_ACTION = 40;
+	public static final int MOTOR_RESET = 10;
+	public static final int DO_BEEP = 51;
+	public static final int DO_ACTION = 52;
+	public static final int READ_MOTOR_STATE = 60;
+	public static final int GET_FIRMWARE_VERSION = 70;
+	public static final int DISCONNECT = 99;
+	public static final int SET_LIGHT_SENSOR = 89;
+	public static final int GET_LIGHT_SENSOR = 90;
+	public static final int GET_TOUCH_SENSOR = 92;
 
-    public static final int DISPLAY_TOAST = 1000;
-    public static final int STATE_CONNECTED = 1001;
-    public static final int STATE_CONNECTERROR = 1002;
-    public static final int STATE_CONNECTERROR_PAIRING = 1022;
-    public static final int MOTOR_STATE = 1003;
-    public static final int STATE_RECEIVEERROR = 1004;
-    public static final int STATE_SENDERROR = 1005;
-    public static final int FIRMWARE_VERSION = 1006;
-    public static final int FIND_FILES = 1007;
-    public static final int START_PROGRAM = 1008;
-    public static final int STOP_PROGRAM = 1009;
-    public static final int GET_PROGRAM_NAME = 1010;
-    public static final int PROGRAM_NAME = 1011;
-    public static final int SAY_TEXT = 1030;
-    public static final int VIBRATE_PHONE = 1031;
+	public static final int DISPLAY_TOAST = 1000;
+	public static final int STATE_CONNECTED = 1001;
+	public static final int STATE_CONNECTERROR = 1002;
+	public static final int STATE_CONNECTERROR_PAIRING = 1022;
+	public static final int MOTOR_STATE = 1003;
+	public static final int STATE_RECEIVEERROR = 1004;
+	public static final int STATE_SENDERROR = 1005;
+	public static final int FIRMWARE_VERSION = 1006;
+	public static final int FIND_FILES = 1007;
+	public static final int START_PROGRAM = 1008;
+	public static final int STOP_PROGRAM = 1009;
+	public static final int GET_PROGRAM_NAME = 1010;
+	public static final int PROGRAM_NAME = 1011;
+	public static final int SAY_TEXT = 1030;
+	public static final int VIBRATE_PHONE = 1031;
+	public static final int UPDATE_SENSOR = 1042;
 
-    public static final int NO_DELAY = 0;
+	public static final int NO_DELAY = 0;
 
-    private static final UUID SERIAL_PORT_SERVICE_CLASS_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
-    // this is the only OUI registered by LEGO, see http://standards.ieee.org/regauth/oui/index.shtml
-    public static final String OUI_LEGO = "00:16:53";
+	private static final UUID SERIAL_PORT_SERVICE_CLASS_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
+	// this is the only OUI registered by LEGO, see http://standards.ieee.org/regauth/oui/index.shtml
+	public static final String OUI_LEGO = "00:16:53";
 
-    private Resources mResources;
-    private BluetoothAdapter btAdapter;
-    private BluetoothSocket nxtBTsocket = null;
-    private OutputStream nxtOutputStream = null;
-    private InputStream nxtInputStream = null;
-    private boolean connected = false;
+	private Resources mResources;
+	private BluetoothAdapter btAdapter;
+	private BluetoothSocket nxtBTsocket = null;
+	private OutputStream nxtOutputStream = null;
+	private InputStream nxtInputStream = null;
+	private boolean connected = false;
 
-    private Handler uiHandler;
-    private String mMACaddress;
-    private BTConnectable myOwner;
+	private Handler uiHandler;
+	private String mMACaddress;
+	private BTConnectable myOwner;
 
-    private byte[] returnMessage;
+	private byte[] returnMessage;
 
-    public BTCommunicator(BTConnectable myOwner, Handler uiHandler, BluetoothAdapter btAdapter, Resources resources) {
-        this.myOwner = myOwner;
-        this.uiHandler = uiHandler;
-        this.btAdapter = btAdapter;
-        this.mResources = resources;
-    }
+	public BTCommunicator(BTConnectable myOwner, Handler uiHandler, BluetoothAdapter btAdapter, Resources resources) {
+		this.myOwner = myOwner;
+		this.uiHandler = uiHandler;
+		this.btAdapter = btAdapter;
+		this.mResources = resources;
+	}
 
-    public Handler getHandler() {
-        return myHandler;
-    }
+	public Handler getHandler() {
+		return myHandler;
+	}
 
-    public byte[] getReturnMessage() {
-        return returnMessage;
-    }
+	public byte[] getReturnMessage() {
+		return returnMessage;
+	}
 
-    public void setMACAddress(String mMACaddress) {
-        this.mMACaddress = mMACaddress;
-    }
+	public void setMACAddress(String mMACaddress) {
+		this.mMACaddress = mMACaddress;
+	}
 
-    /**
-     * @return The current status of the connection
-     */            
-    public boolean isConnected() {
-        return connected;
-    }
+	/**
+	 * @return The current status of the connection
+	 */            
+	public boolean isConnected() {
+		return connected;
+	}
 
-    /**
-     * Creates the connection, waits for incoming messages and dispatches them. The thread will be terminated
-     * on closing of the connection.
-     */
-    @Override
-    public void run() {
+	/**
+	 * Creates the connection, waits for incoming messages and dispatches them. The thread will be terminated
+	 * on closing of the connection.
+	 */
+	@Override
+	public void run() {
 
-        try {        
-            createNXTconnection();
-        }
-        catch (IOException e) { }
+		try {        
+			createNXTconnection();
+			
+			/* NUEVO */
+			setInputMode(0, LCPMessage.LIGHT_ACTIVE, LCPMessage.RAWMODE);
+			setInputMode(1, LCPMessage.LIGHT_ACTIVE, LCPMessage.RAWMODE);
+			/* NUEVO */
+		}
+		catch (IOException e) { }
 
-        while (connected) {
-            try {
-                returnMessage = receiveMessage();
-                if ((returnMessage.length >= 2) && ((returnMessage[0] == LCPMessage.REPLY_COMMAND) ||
-                    (returnMessage[0] == LCPMessage.DIRECT_COMMAND_NOREPLY)))
-                    dispatchMessage(returnMessage);
+		while (connected) {
+			try {
+				returnMessage = receiveMessage();
+				if ((returnMessage.length >= 2) && ((returnMessage[0] == LCPMessage.REPLY_COMMAND) ||
+						(returnMessage[0] == LCPMessage.DIRECT_COMMAND_NOREPLY)))
+					dispatchMessage(returnMessage);
 
-            } catch (IOException e) {
-                // don't inform the user when connection is already closed
-                if (connected)
-                    sendState(STATE_RECEIVEERROR);
-                return;
-            }
-        }
-    }
+			} catch (IOException e) {
+				// don't inform the user when connection is already closed
+				if (connected)
+					sendState(STATE_RECEIVEERROR);
+				return;
+			}
+		}
+	}
 
-    /**
-     * Create a bluetooth connection with SerialPortServiceClass_UUID
-     * @see <a href=
-     *      "http://lejos.sourceforge.net/forum/viewtopic.php?t=1991&highlight=android"
-     *      />
-     * On error the method either sends a message to it's owner or creates an exception in the
-     * case of no message handler.
-     */
-    public void createNXTconnection() throws IOException {
-        try {
-            BluetoothSocket nxtBTSocketTemporary;
-            BluetoothDevice nxtDevice = null;
-            nxtDevice = btAdapter.getRemoteDevice(mMACaddress);
-            if (nxtDevice == null) {
-                if (uiHandler == null)
-                    throw new IOException();
-                else {
-                    sendToast(mResources.getString(R.string.no_paired_nxt));
-                    sendState(STATE_CONNECTERROR);
-                    return;
-                }
-            }
-            nxtBTSocketTemporary = nxtDevice.createRfcommSocketToServiceRecord(SERIAL_PORT_SERVICE_CLASS_UUID);
-            try {
-                nxtBTSocketTemporary.connect();
-            }
-            catch (IOException e) {  
-                if (myOwner.isPairing()) {
-                    if (uiHandler != null) {
-                        sendToast(mResources.getString(R.string.pairing_message));
-                        sendState(STATE_CONNECTERROR_PAIRING);
-                    }
-                    else
-                        throw e;
-                    return;
-                }
+	/**
+	 * Create a bluetooth connection with SerialPortServiceClass_UUID
+	 * @see <a href=
+	 *      "http://lejos.sourceforge.net/forum/viewtopic.php?t=1991&highlight=android"
+	 *      />
+	 * On error the method either sends a message to it's owner or creates an exception in the
+	 * case of no message handler.
+	 */
+	public void createNXTconnection() throws IOException {
+		try {
+			BluetoothSocket nxtBTSocketTemporary;
+			BluetoothDevice nxtDevice = null;
+			nxtDevice = btAdapter.getRemoteDevice(mMACaddress);
+			if (nxtDevice == null) {
+				if (uiHandler == null)
+					throw new IOException();
+				else {
+					sendToast(mResources.getString(R.string.no_paired_nxt));
+					sendState(STATE_CONNECTERROR);
+					return;
+				}
+			}
+			nxtBTSocketTemporary = nxtDevice.createRfcommSocketToServiceRecord(SERIAL_PORT_SERVICE_CLASS_UUID);
+			try {
+				nxtBTSocketTemporary.connect();
+			}
+			catch (IOException e) {  
+				if (myOwner.isPairing()) {
+					if (uiHandler != null) {
+						sendToast(mResources.getString(R.string.pairing_message));
+						sendState(STATE_CONNECTERROR_PAIRING);
+					}
+					else
+						throw e;
+					return;
+				}
 
-                // try another method for connection, this should work on the HTC desire, credits to Michael Biermann
-                try {
-                    Method mMethod = nxtDevice.getClass().getMethod("createRfcommSocket", new Class[] { int.class });
-                    nxtBTSocketTemporary = (BluetoothSocket) mMethod.invoke(nxtDevice, Integer.valueOf(1));            
-                    nxtBTSocketTemporary.connect();
-                }
-                catch (Exception e1){
-                    if (uiHandler == null)
-                        throw new IOException();
-                    else
-                        sendState(STATE_CONNECTERROR);
-                    return;
-                }
-            }
-            nxtBTsocket = nxtBTSocketTemporary;
-            nxtInputStream = nxtBTsocket.getInputStream();
-            nxtOutputStream = nxtBTsocket.getOutputStream();
-            connected = true;
-        } catch (IOException e) {
-            if (uiHandler == null)
-                throw e;
-            else {
-                if (myOwner.isPairing())
-                    sendToast(mResources.getString(R.string.pairing_message));
-                sendState(STATE_CONNECTERROR);
-                return;
-            }
-        }
-        // everything was OK
-        if (uiHandler != null)
-            sendState(STATE_CONNECTED);
-    }
+				// try another method for connection, this should work on the HTC desire, credits to Michael Biermann
+				try {
+					Method mMethod = nxtDevice.getClass().getMethod("createRfcommSocket", new Class[] { int.class });
+					nxtBTSocketTemporary = (BluetoothSocket) mMethod.invoke(nxtDevice, Integer.valueOf(1));            
+					nxtBTSocketTemporary.connect();
+				}
+				catch (Exception e1){
+					if (uiHandler == null)
+						throw new IOException();
+					else
+						sendState(STATE_CONNECTERROR);
+					return;
+				}
+			}
+			nxtBTsocket = nxtBTSocketTemporary;
+			nxtInputStream = nxtBTsocket.getInputStream();
+			nxtOutputStream = nxtBTsocket.getOutputStream();
+			connected = true;
+		} catch (IOException e) {
+			if (uiHandler == null)
+				throw e;
+			else {
+				if (myOwner.isPairing())
+					sendToast(mResources.getString(R.string.pairing_message));
+				sendState(STATE_CONNECTERROR);
+				return;
+			}
+		}
+		// everything was OK
+		if (uiHandler != null)
+			sendState(STATE_CONNECTED);
+	}
 
-    /**
-     * Closes the bluetooth connection. On error the method either sends a message
-     * to it's owner or creates an exception in the case of no message handler.
-     */
-    public void destroyNXTconnection() throws IOException {
-        try {
-            if (nxtBTsocket != null) {
-                connected = false;
-                nxtBTsocket.close();
-                nxtBTsocket = null;
-            }
+	/**
+	 * Closes the bluetooth connection. On error the method either sends a message
+	 * to it's owner or creates an exception in the case of no message handler.
+	 */
+	public void destroyNXTconnection() throws IOException {
+		try {
+			if (nxtBTsocket != null) {
+				connected = false;
+				nxtBTsocket.close();
+				nxtBTsocket = null;
+			}
 
-            nxtInputStream = null;
-            nxtOutputStream = null;
+			nxtInputStream = null;
+			nxtOutputStream = null;
 
-        } catch (IOException e) {
-            if (uiHandler == null)
-                throw e;
-            else
-                sendToast(mResources.getString(R.string.problem_at_closing));
-        }
-    }
+		} catch (IOException e) {
+			if (uiHandler == null)
+				throw e;
+			else
+				sendToast(mResources.getString(R.string.problem_at_closing));
+		}
+	}
 
-    /**
-     * Sends a message on the opened OutputStream
-     * @param message, the message as a byte array
-     */
-    public void sendMessage(byte[] message) throws IOException {
-        if (nxtOutputStream == null)
-            throw new IOException();
+	/**
+	 * Sends a message on the opened OutputStream
+	 * @param message, the message as a byte array
+	 */
+	public void sendMessage(byte[] message) throws IOException {
+		if (nxtOutputStream == null)
+			throw new IOException();
 
-        // send message length
-        int messageLength = message.length;
-        nxtOutputStream.write(messageLength);
-        nxtOutputStream.write(messageLength >> 8);
-        nxtOutputStream.write(message, 0, message.length);
-    }  
+		// send message length
+		int messageLength = message.length;
+		nxtOutputStream.write(messageLength);
+		nxtOutputStream.write(messageLength >> 8);
+		nxtOutputStream.write(message, 0, message.length);
+	}  
 
-    /**
-     * Receives a message on the opened InputStream
-     * @return the message
-     */                
-    public byte[] receiveMessage() throws IOException {
-        if (nxtInputStream == null)
-            throw new IOException();
+	/**
+	 * Receives a message on the opened InputStream
+	 * @return the message
+	 */                
+	public byte[] receiveMessage() throws IOException {
+		if (nxtInputStream == null)
+			throw new IOException();
 
-        int length = nxtInputStream.read();
-        length = (nxtInputStream.read() << 8) + length;
-        byte[] returnMessage = new byte[length];
-        nxtInputStream.read(returnMessage);
-        return returnMessage;
-    }    
+		int length = nxtInputStream.read();
+		length = (nxtInputStream.read() << 8) + length;
+		byte[] returnMessage = new byte[length];
+		nxtInputStream.read(returnMessage);
+		return returnMessage;
+	}    
 
-    /**
-     * Sends a message on the opened OutputStream. In case of 
-     * an error the state is sent to the handler.
-     * @param message, the message as a byte array
-     */
-    private void sendMessageAndState(byte[] message) {
-        if (nxtOutputStream == null)
-            return;
+	/**
+	 * Sends a message on the opened OutputStream. In case of 
+	 * an error the state is sent to the handler.
+	 * @param message, the message as a byte array
+	 */
+	private void sendMessageAndState(byte[] message) {
+		if (nxtOutputStream == null)
+			return;
 
-        try {
-            sendMessage(message);
-        }
-        catch (IOException e) {
-            sendState(STATE_SENDERROR);
-        }
-    }
+		try {
+			sendMessage(message);
+		}
+		catch (IOException e) {
+			sendState(STATE_SENDERROR);
+		}
+	}
 
-    private void dispatchMessage(byte[] message) {
-        switch (message[1]) {
+	private void dispatchMessage(byte[] message) {
+		switch (message[1]) {
 
-            case LCPMessage.GET_OUTPUT_STATE:
+		case LCPMessage.GET_OUTPUT_STATE:
 
-                if (message.length >= 25)
-                    sendState(MOTOR_STATE);
+			if (message.length >= 25)
+				sendState(MOTOR_STATE);
 
-                break;
+			break;
 
-            case LCPMessage.GET_FIRMWARE_VERSION:
+		case LCPMessage.GET_FIRMWARE_VERSION:
 
-                if (message.length >= 7)
-                    sendState(FIRMWARE_VERSION);
+			if (message.length >= 7)
+				sendState(FIRMWARE_VERSION);
 
-                break;
+			break;
 
-            case LCPMessage.FIND_FIRST:
-            case LCPMessage.FIND_NEXT:
+		case LCPMessage.FIND_FIRST:
+		case LCPMessage.FIND_NEXT:
 
-                if (message.length >= 28) {
-                    // Success
-                    if (message[2] == 0)
-                        sendState(FIND_FILES);
-                }
+			/*if (message.length >= 28) {
+				// Success
+				if (message[2] == 0)
+					sendState(FIND_FILES);
+			}*/
 
-                break;
-                
-            case LCPMessage.GET_CURRENT_PROGRAM_NAME:
+			break;
 
-                if (message.length >= 23) {
-                    sendState(PROGRAM_NAME);
-                }
-                
-                break;
-                
-            case LCPMessage.SAY_TEXT:
-                
-                if (message.length == 22) {
-                    sendState(SAY_TEXT);
-                }
-                
-            case LCPMessage.VIBRATE_PHONE:
-                if (message.length == 3) {
-                    sendState(VIBRATE_PHONE);
-                }                                
-        }
-    }
+		case LCPMessage.GET_CURRENT_PROGRAM_NAME:
 
-    private void doBeep(int frequency, int duration) {
-        byte[] message = LCPMessage.getBeepMessage(frequency, duration);
-        sendMessageAndState(message);
-        waitSomeTime(20);
-    }
-    
-    private void doAction(int actionNr) {
-        byte[] message = LCPMessage.getActionMessage(actionNr);
-        sendMessageAndState(message);
-    }
+			if (message.length >= 23) {
+				sendState(PROGRAM_NAME);
+			}
 
-    private void startProgram(String programName) {
-        byte[] message = LCPMessage.getStartProgramMessage(programName);
-        sendMessageAndState(message);
-    }
+			break;
 
-    private void stopProgram() {
-        byte[] message = LCPMessage.getStopProgramMessage();
-        sendMessageAndState(message);
-    }
-    
-    private void getProgramName() {
-        byte[] message = LCPMessage.getProgramNameMessage();
-        sendMessageAndState(message);
-    }
-    
-    private void changeMotorSpeed(int motor, int speed) {
-        if (speed > 100)
-            speed = 100;
+		case LCPMessage.SAY_TEXT:
 
-        else if (speed < -100)
-            speed = -100;
+			if (message.length == 22) {
+				sendState(SAY_TEXT);
+			}
 
-        byte[] message = LCPMessage.getMotorMessage(motor, speed);
-        sendMessageAndState(message);
-    }
+			break;
+			
+		case LCPMessage.VIBRATE_PHONE:
+			if (message.length == 3) {
+				sendState(VIBRATE_PHONE);
+			}
+			
+			break;
+			
+		/* NUEVO */
+		case LCPMessage.GET_INPUT_VALUES:
+			if(message[3] == LCPMessage.PORT_0 || message[3] == LCPMessage.PORT_1){
+				sendState(UPDATE_SENSOR);
+			}
+			
+			break;
+		/* NUEVO */
+		}
+	}
 
-    private void rotateTo(int motor, int end) {
-        byte[] message = LCPMessage.getMotorMessage(motor, -80, end);
-        sendMessageAndState(message);
-    }
+	private void doBeep(int frequency, int duration) {
+		byte[] message = LCPMessage.getBeepMessage(frequency, duration);
+		sendMessageAndState(message);
+		waitSomeTime(20);
+	}
 
-    private void reset(int motor) {
-        byte[] message = LCPMessage.getResetMessage(motor);
-        sendMessageAndState(message);
-    }
+	private void doAction(int actionNr) {
+		byte[] message = LCPMessage.getActionMessage(actionNr);
+		sendMessageAndState(message);
+	}
 
-    private void readMotorState(int motor) {
-        byte[] message = LCPMessage.getOutputStateMessage(motor);
-        sendMessageAndState(message);
-    }
+	private void startProgram(String programName) {
+		byte[] message = LCPMessage.getStartProgramMessage(programName);
+		sendMessageAndState(message);
+	}
 
-    private void getFirmwareVersion() {
-        byte[] message = LCPMessage.getFirmwareVersionMessage();
-        sendMessageAndState(message);
-    }
+	private void stopProgram() {
+		byte[] message = LCPMessage.getStopProgramMessage();
+		sendMessageAndState(message);
+	}
 
-    private void findFiles(boolean findFirst, int handle) {
-        byte[] message = LCPMessage.getFindFilesMessage(findFirst, handle, "*.*");
-        sendMessageAndState(message);
-    }
+	private void getProgramName() {
+		byte[] message = LCPMessage.getProgramNameMessage();
+		sendMessageAndState(message);
+	}
 
-    private void waitSomeTime(int millis) {
-        try {
-            Thread.sleep(millis);
+	private void changeMotorSpeed(int motor, int speed) {
+		if (speed > 100)
+			speed = 100;
 
-        } catch (InterruptedException e) {
-        }
-    }
+		else if (speed < -100)
+			speed = -100;
 
-    private void sendToast(String toastText) {
-        Bundle myBundle = new Bundle();
-        myBundle.putInt("message", DISPLAY_TOAST);
-        myBundle.putString("toastText", toastText);
-        sendBundle(myBundle);
-    }
+		byte[] message = LCPMessage.getMotorMessage(motor, speed);
+		sendMessageAndState(message);
+	}
 
-    private void sendState(int message) {
-        Bundle myBundle = new Bundle();
-        myBundle.putInt("message", message);
-        sendBundle(myBundle);
-    }
+	private void rotateTo(int motor, int end) {
+		byte[] message = LCPMessage.getMotorMessage(motor, -80, end);
+		sendMessageAndState(message);
+	}
 
-    private void sendBundle(Bundle myBundle) {
-        Message myMessage = myHandler.obtainMessage();
-        myMessage.setData(myBundle);
-        uiHandler.sendMessage(myMessage);
-    }
+	private void reset(int motor) {
+		byte[] message = LCPMessage.getResetMessage(motor);
+		sendMessageAndState(message);
+	}
 
-    // receive messages from the UI
-    final Handler myHandler = new Handler() {
-        @Override
-        public void handleMessage(Message myMessage) {
+	private void readMotorState(int motor) {
+		byte[] message = LCPMessage.getOutputStateMessage(motor);
+		sendMessageAndState(message);
+	}
 
-            int message;
+	private void getFirmwareVersion() {
+		byte[] message = LCPMessage.getFirmwareVersionMessage();
+		sendMessageAndState(message);
+	}
 
-            switch (message = myMessage.getData().getInt("message")) {
-                case MOTOR_A:
-                case MOTOR_B:
-                case MOTOR_C:
-                    changeMotorSpeed(message, myMessage.getData().getInt("value1"));
-                    break;
-                case MOTOR_B_ACTION:
-                    rotateTo(MOTOR_B, myMessage.getData().getInt("value1"));
-                    break;
-                case MOTOR_RESET:
-                    reset(myMessage.getData().getInt("value1"));
-                    break;
-                case START_PROGRAM:
-                    startProgram(myMessage.getData().getString("name"));
-                    break;
-                case STOP_PROGRAM:
-                    stopProgram();
-                    break;
-                case GET_PROGRAM_NAME:
-                    getProgramName();
-                    break;    
-                case DO_BEEP:
-                    doBeep(myMessage.getData().getInt("value1"), myMessage.getData().getInt("value2"));
-                    break;
-                case DO_ACTION:
-                    doAction(0);
-                    break;
-                case READ_MOTOR_STATE:
-                    readMotorState(myMessage.getData().getInt("value1"));
-                    break;
-                case GET_FIRMWARE_VERSION:
-                    getFirmwareVersion();
-                    break;
-                case FIND_FILES:
-                    findFiles(myMessage.getData().getInt("value1") == 0, myMessage.getData().getInt("value2"));
-                    break;
-                case DISCONNECT:
-                    // send stop messages before closing
-                    changeMotorSpeed(MOTOR_A, 0);
-                    changeMotorSpeed(MOTOR_B, 0);
-                    changeMotorSpeed(MOTOR_C, 0);
-                    waitSomeTime(500);
-                    try {
-                        destroyNXTconnection();
-                    }
-                    catch (IOException e) { }
-                    break;
-            }
-        }
-    };
+	private void findFiles(boolean findFirst, int handle) {
+		byte[] message = LCPMessage.getFindFilesMessage(findFirst, handle, "*.*");
+		sendMessageAndState(message);
+	}
+
+	/* NUEVO */
+	private void setInputMode(int port, byte sensor, byte mode){
+		byte [] message = LCPMessage.getSetInputModeMessage(port, sensor, mode);
+		sendMessageAndState(message);
+	}
+	
+	private void getInputValues(int port){
+		byte [] message = LCPMessage.getGetInputValuesMessage(port);
+		sendMessageAndState(message);
+	}
+	/* NUEVO */
+	
+	private void waitSomeTime(int millis) {
+		try {
+			Thread.sleep(millis);
+
+		} catch (InterruptedException e) {
+		}
+	}
+
+	private void sendToast(String toastText) {
+		Bundle myBundle = new Bundle();
+		myBundle.putInt("message", DISPLAY_TOAST);
+		myBundle.putString("toastText", toastText);
+		sendBundle(myBundle);
+	}
+
+	private void sendState(int message) {
+		Bundle myBundle = new Bundle();
+		myBundle.putInt("message", message);
+		sendBundle(myBundle);
+	}
+
+	private void sendBundle(Bundle myBundle) {
+		Message myMessage = myHandler.obtainMessage();
+		myMessage.setData(myBundle);
+		uiHandler.sendMessage(myMessage);
+	}
+
+	// receive messages from the UI
+	final Handler myHandler = new Handler() {
+		@Override
+		public void handleMessage(Message myMessage) {
+
+			int message;
+
+			switch (message = myMessage.getData().getInt("message")) {
+			case MOTOR_A:
+			case MOTOR_B:
+			case MOTOR_C:
+				changeMotorSpeed(message, myMessage.getData().getInt("value1"));
+				break;
+			case MOTOR_B_ACTION:
+				rotateTo(MOTOR_B, myMessage.getData().getInt("value1"));
+				break;
+			case MOTOR_RESET:
+				reset(myMessage.getData().getInt("value1"));
+				break;
+			case START_PROGRAM:
+				startProgram(myMessage.getData().getString("name"));
+				break;
+			case STOP_PROGRAM:
+				stopProgram();
+				break;
+			case GET_PROGRAM_NAME:
+				getProgramName();
+				break;    
+			case DO_BEEP:
+				doBeep(myMessage.getData().getInt("value1"), myMessage.getData().getInt("value2"));
+				break;
+			case DO_ACTION:
+				doAction(0);
+				break;
+			case READ_MOTOR_STATE:
+				readMotorState(myMessage.getData().getInt("value1"));
+				break;
+			case GET_FIRMWARE_VERSION:
+				getFirmwareVersion();
+				break;
+			case FIND_FILES:
+				findFiles(myMessage.getData().getInt("value1") == 0, myMessage.getData().getInt("value2"));
+				break;
+			case DISCONNECT:
+				// send stop messages before closing
+				changeMotorSpeed(MOTOR_A, 0);
+				changeMotorSpeed(MOTOR_B, 0);
+				changeMotorSpeed(MOTOR_C, 0);
+				waitSomeTime(500);
+				try {
+					/* NUEVO */
+					setInputMode(0, LCPMessage.NO_SENSOR, LCPMessage.RAWMODE);
+					setInputMode(1, LCPMessage.NO_SENSOR, LCPMessage.RAWMODE);
+					/* NUEVO */
+					destroyNXTconnection();
+				}
+				catch (IOException e) { }
+				break;
+				/* NUEVO */
+			case SET_LIGHT_SENSOR:
+				setInputMode(0, LCPMessage.LIGHT_ACTIVE, LCPMessage.RAWMODE);
+				break;
+			case GET_LIGHT_SENSOR:
+				getInputValues(0);
+				waitSomeTime(30);
+				break;
+			case GET_TOUCH_SENSOR:
+				getInputValues(1);
+				waitSomeTime(30);
+				break;
+				/* NUEVO */
+			}
+		}
+	};
 }
diff --git a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/CameraGLRenderer.java b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/CameraGLRenderer.java
new file mode 100644
index 0000000..4a2f512
--- /dev/null
+++ b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/CameraGLRenderer.java
@@ -0,0 +1,222 @@
+package com.lego.minddroid;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.IntBuffer;
+
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+
+import android.hardware.Camera;
+import android.hardware.Camera.PreviewCallback;
+import android.opengl.GLSurfaceView.Renderer;
+import android.os.Handler;
+
+public class CameraGLRenderer implements Renderer, PreviewCallback{
+	private static final String TAG = "CAMERA_RENDERER";
+	Quad t;
+	int tex;
+	int[] glCameraFrame = null;
+	int[] glTexture = null;
+	byte[] frame = null;
+	int[] cameraTexture;
+	public int w,h;
+	protected MINDdroidCV mActivity;
+	protected double[]buffer;
+	protected int left, right;
+	private Handler handler = new Handler();
+
+	static {
+		System.loadLibrary("mixed_sample");
+	}
+
+	public CameraGLRenderer(){
+		handler.removeCallbacks(FrameProcessor);
+		handler.postDelayed(FrameProcessor, 100);
+
+		w = 0; h = 0;
+		t = new Quad();
+
+		frame = new byte[1];
+		buffer = new double[10];
+		glCameraFrame = new int[240*160];
+		glTexture = new int[256*256];
+		for(int i = 0; i < 256; ++i){
+			for(int j = 0; j < 256; ++j){
+				glTexture[i*256 + j] = 0;
+			}
+		}
+	}
+
+	public native void FindLight(int width, int height, byte yuv[], int[] rgba,double[] array);
+
+	public void onDrawFrame( GL10 gl ) {
+		gl.glClearColor( 0.0f, 0.0f, 0.0f, 1.0f );
+		gl.glClear( GL10.GL_COLOR_BUFFER_BIT );
+
+		gl.glMatrixMode(GL10.GL_MODELVIEW);
+		gl.glLoadIdentity();
+
+		bindCameraTexture(gl);
+
+		gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
+		gl.glEnableClientState(GL10.GL_TEXTURE_COORD_ARRAY);
+
+		gl.glVertexPointer(3, GL10.GL_FLOAT, 0, t.vertexBuffer);
+		gl.glTexCoordPointer(2, GL10.GL_FLOAT, 0, t.texBuffer);
+		gl.glDrawArrays(GL10.GL_TRIANGLE_STRIP, 0, 4);
+
+		gl.glDisableClientState(GL10.GL_TEXTURE_COORD_ARRAY);
+		gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
+
+		gl.glFinish();
+	}
+
+	public void setMActivity (MINDdroidCV activity){
+		mActivity = activity;
+	}
+
+	public void onSurfaceChanged( GL10 gl, int width, int height ) {
+		gl.glViewport( 0, 0, width, height );
+	}
+
+	public void onSurfaceCreated( GL10 gl, EGLConfig config ) {
+		gl.glEnable(GL10.GL_TEXTURE_2D);
+	}
+
+	void bindCameraTexture(GL10 gl) {
+		if (cameraTexture==null)
+			cameraTexture=new int[1];
+		else
+			gl.glDeleteTextures(1, cameraTexture, 0);
+
+		gl.glGenTextures(1, cameraTexture, 0);
+		int tex = cameraTexture[0];
+		gl.glBindTexture(GL10.GL_TEXTURE_2D, tex);
+		synchronized (glCameraFrame) {
+			int orgRow = 0;
+			int destRow = 0;
+			for(int i = 0; i < 160; ++i){
+				System.arraycopy(glCameraFrame, orgRow, glTexture, destRow, 240);
+				orgRow += 240;
+				destRow += 256;
+			}
+			gl.glTexImage2D(GL10.GL_TEXTURE_2D, 0, GL10.GL_RGBA, 256, 256, 0, GL10.GL_RGBA, GL10.GL_UNSIGNED_BYTE, IntBuffer.wrap(glTexture));
+		}
+		gl.glTexParameterf(GL10.GL_TEXTURE_2D, GL10.GL_TEXTURE_MIN_FILTER, GL10.GL_LINEAR);
+		gl.glTexParameterf(GL10.GL_TEXTURE_2D, GL10.GL_TEXTURE_WRAP_S, GL10.GL_CLAMP_TO_EDGE);
+		gl.glTexParameterf(GL10.GL_TEXTURE_2D, GL10.GL_TEXTURE_WRAP_T, GL10.GL_CLAMP_TO_EDGE);
+	}	
+
+	public void onPreviewFrame(byte[] new_frame, Camera camera){
+		w = camera.getParameters().getPreviewSize().width;
+		h = camera.getParameters().getPreviewSize().height;
+
+		synchronized(frame){
+			frame = new_frame.clone();
+		}
+	}
+
+	private void processFrame(byte[] data) {
+		synchronized (glCameraFrame) {
+			FindLight(w, h, data, glCameraFrame, buffer);
+		}
+	}
+
+	void calculateMove() {
+		// buffer[1] holds the light direction info if the phone is in landscape format
+		// small values -> turn left
+		// large values -> turn right
+		// in portrait mode buffer[2] should be used 
+		// large values -> turn right 
+		// small values -> turn left
+		if(mActivity.isConnected()){
+			mActivity.sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.GET_LIGHT_SENSOR, 0, 0);
+			mActivity.sendBTCmessage(40, BTCommunicator.GET_TOUCH_SENSOR, 0, 0);
+		}
+		if(mActivity.getLightSensorReading() > 600 || mActivity.getTouchSensorReading() > 0){
+			left = 0;
+			right = 0;
+		}else{
+			if( buffer[0] > 100 ) { // light is visible
+				int forwardSpeed = 50;
+				double upScale = 40; 
+				double direction = (buffer[1] - 240/2)/160;
+				//double direction = -1.0 * (buffer[2] - w/2)/h;
+				left = (int)(upScale * direction) + forwardSpeed;
+				right = (int)(-1.0 * upScale * direction) + forwardSpeed;
+			} else {
+				left = 0;
+				right = 0;
+			}
+			left = Math.min(Math.max(left,0),100);
+			right = Math.min(Math.max(right,0),100);
+		}
+
+		mActivity.updateMotorControl(left,right);
+	}
+
+	private Runnable FrameProcessor = new Runnable(){
+		public void run(){
+			if(mActivity.isConnected()){
+				synchronized(frame){
+					processFrame(frame);
+				}
+				calculateMove();
+			}
+			if(handler != null)
+				handler.postDelayed(this, 100);
+		}
+	};
+}
+
+class Quad {
+	public FloatBuffer vertexBuffer, texBuffer;
+
+	// number of coordinates per vertex in this array
+	static final int COORDS_PER_VERTEX = 3;
+	float triangleCoords[] = { // in counterclockwise order:
+			-1.0f, -1.0f, 0.0f,   // top
+			1.0f, -1.0f, 0.0f,   // bottom left
+			-1.0f, 1.0f, 0.0f,   // bottom right
+			1.0f, 1.0f, 0.0f,
+	};
+
+	float texCoords[] = {
+			0.0f, 0.625f,
+			0.9375f, 0.625f,
+			0.0f, 0.0f,
+			0.9375f, 0.0f
+	};
+
+	public Quad() {
+		// initialize vertex byte buffer for shape coordinates
+		ByteBuffer bb = ByteBuffer.allocateDirect(
+				// (number of coordinate values * 4 bytes per float)
+				triangleCoords.length * 4);
+		// use the device hardware's native byte order
+		bb.order(ByteOrder.nativeOrder());
+
+		// create a floating point buffer from the ByteBuffer
+		vertexBuffer = bb.asFloatBuffer();
+		// add the coordinates to the FloatBuffer
+		vertexBuffer.put(triangleCoords);
+		// set the buffer to read the first coordinate
+		vertexBuffer.position(0);
+
+		ByteBuffer bb2 = ByteBuffer.allocateDirect(
+				// (number of coordinate values * 4 bytes per float)
+				texCoords.length * 4);
+		// use the device hardware's native byte order
+		bb2.order(ByteOrder.nativeOrder());
+
+		// create a floating point buffer from the ByteBuffer
+		texBuffer = bb2.asFloatBuffer();
+		// add the coordinates to the FloatBuffer
+		texBuffer.put(texCoords);
+		// set the buffer to read the first coordinate
+		texBuffer.position(0);
+	}
+}
+
diff --git a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/LCPMessage.java b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/LCPMessage.java
index 02de610..6273f96 100644
--- a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/LCPMessage.java
+++ b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/LCPMessage.java
@@ -20,6 +20,7 @@
 package com.lego.minddroid;
 
 
+
 /**
  * Class for composing the proper messages for simple
  * communication over bluetooth
@@ -97,6 +98,87 @@ public class LCPMessage {
     public static final byte DIRECTORY_FULL = (byte) 0xFC;
     public static final byte UNDEFINED_ERROR = (byte) 0x8A;
     public static final byte NOT_IMPLEMENTED = (byte) 0xFD;
+    
+    // Sensor types
+    public static final byte NO_SENSOR = 0x00;
+    public static final byte SWITCH = 0x01;
+    public static final byte TEMPERATURE = 0x02;
+    public static final byte REFLECTION = 0x03;
+    public static final byte ANGLE = 0x04;
+    public static final byte LIGHT_ACTIVE = 0x05;
+    public static final byte LIGHT_INACTIVE = 0x06;
+    public static final byte SOUND_DB = 0x07;
+    public static final byte SOUND_DBA = 0x08;
+    public static final byte CUSTOM = 0x09;
+    public static final byte LOWSPEED = 0x0A;
+    public static final byte LOWSPEED_9V = 0x0B;
+    public static final byte NO_OF_SENSOR_TYPES = 0x0C;
+    
+    // Sensor modes
+    public static final byte RAWMODE = 0x00;
+    public static final byte BOOLEANMODE = 0x20;
+    public static final byte TRANSITIONCNTMODE = 0x40;
+    public static final byte PERIODCOUNTERMODE = 0x60;
+    public static final byte PCTFULLSCALEMODE = (byte) 0x80;
+    public static final byte CELSIUSMODE = (byte) 0xA0;
+    public static final byte FRAHRENHEITMODE = (byte) 0xC0;
+    public static final byte ANGLESTEPSMODE = (byte) 0xE0;
+    public static final byte SLOPEMASK = 0x1F;
+    public static final byte MODEMASK = (byte) 0xE0;
+    
+    // Ports
+    public static final byte PORT_0 = 0x00;
+	public static final byte PORT_1 = 0x01;
+	public static final byte PORT_2 = 0x02;
+	public static final byte PORT_3 = 0x03;
+    
+    public static byte[] getSetInputModeMessage(int input_port, byte sensor_type, byte sensor_mode){
+		byte[] message = new byte[5];
+
+		message[0] = DIRECT_COMMAND_NOREPLY;
+		message[1] = SET_INPUT_MODE;
+		switch(input_port){
+		case 0:
+			message[2] = PORT_0;
+			break;
+		case 1:
+			message[2] = PORT_1;
+			break;
+		case 2:
+			message[2] = PORT_2;
+			break;
+		case 3:
+			message[2] = PORT_3;
+			break;
+		}
+		message[3] = sensor_type;
+		message[4] = sensor_mode;
+
+		return message;
+	}
+    
+    public static byte[] getGetInputValuesMessage(int input_port){
+		byte[] message = new byte[3];
+
+		message[0] = DIRECT_COMMAND_REPLY;
+		message[1] = GET_INPUT_VALUES;
+		switch(input_port){
+		case 0:
+			message[2] = PORT_0;
+			break;
+		case 1:
+			message[2] = PORT_1;
+			break;
+		case 2:
+			message[2] = PORT_2;
+			break;
+		case 3:
+			message[2] = PORT_3;
+			break;
+		}
+
+		return message;
+	}
 
     // Firmware codes
     public static byte[] FIRMWARE_VERSION_LEJOSMINDDROID = { 0x6c, 0x4d, 0x49, 0x64 };
diff --git a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/MINDdroidCV.java b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/MINDdroidCV.java
index f0d2951..79c0c31 100644
--- a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/MINDdroidCV.java
+++ b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/MINDdroidCV.java
@@ -35,15 +35,19 @@ import android.bluetooth.BluetoothAdapter;
 import android.content.Context;
 import android.content.DialogInterface;
 import android.content.Intent;
+import android.graphics.PixelFormat;
+import android.opengl.GLSurfaceView;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Message;
 import android.os.Vibrator;
 import android.speech.tts.TextToSpeech;
+import android.util.Log;
 import android.view.Menu;
 import android.view.MenuItem;
 import android.view.Window;
 import android.view.WindowManager;
+import android.view.WindowManager.LayoutParams;
 import android.widget.Toast;
 
 /**
@@ -54,734 +58,789 @@ import android.widget.Toast;
  */
 public class MINDdroidCV extends Activity implements BTConnectable, TextToSpeech.OnInitListener {
 
-    public static final int UPDATE_TIME = 200;
-    public static final int MENU_TOGGLE_CONNECT = Menu.FIRST;
-    public static final int MENU_QUIT = Menu.FIRST + 1;
-    
-    private static final int REQUEST_CONNECT_DEVICE = 1000;
-    private static final int REQUEST_ENABLE_BT = 2000;
-    private BTCommunicator myBTCommunicator = null;
-    private boolean connected = false;
-    private ProgressDialog connectingProgressDialog;
-    private Handler btcHandler;
-    private Menu myMenu;
-    private GameView mView;
-    private Activity thisActivity;
-    private boolean btErrorPending = false;
-    private boolean pairing;
-    private static boolean btOnByUs = false;
-    int mRobotType;
-    int motorLeft;
-    private int directionLeft; // +/- 1
-    int motorRight;
-    private boolean stopAlreadySent = false;
-    private int directionRight; // +/- 1
-    private int motorAction;
-    private int directionAction; // +/- 1
-    private List<String> programList;
-    private static final int MAX_PROGRAMS = 20;
-    private String programToStart;
-    private Toast reusableToast;
-    
-    // experimental TTS support
-    private TextToSpeech mTts;
-    private final int TTS_CHECK_CODE = 9991;
+	public static final int UPDATE_TIME = 200;
+	public static final int MENU_TOGGLE_CONNECT = Menu.FIRST;
+	public static final int MENU_QUIT = Menu.FIRST + 1;
 
-    /**
-     * Asks if bluetooth was switched on during the runtime of the app. For saving 
-     * battery we switch it off when the app is terminated.
-     * @return true, when bluetooth was switched on by the app
-     */
-    public static boolean isBtOnByUs() {
-        return btOnByUs;
-    }
+	private static final int REQUEST_CONNECT_DEVICE = 1000;
+	private static final int REQUEST_ENABLE_BT = 2000;
+	private BTCommunicator myBTCommunicator = null;
+	private boolean connected = false;
+	private ProgressDialog connectingProgressDialog;
+	private Handler btcHandler;
+	private Menu myMenu;
+	private GameView mView;
+	private Activity thisActivity;
+	private boolean btErrorPending = false;
+	private boolean pairing;
+	private static boolean btOnByUs = false;
+	int mRobotType;
+	int motorLeft;
+	private int directionLeft; // +/- 1
+	int motorRight;
+	private boolean stopAlreadySent = false;
+	private int directionRight; // +/- 1
+	private int motorAction;
+	private int directionAction; // +/- 1
+	private List<String> programList;
+	private static final int MAX_PROGRAMS = 20;
+	private String programToStart;
+	private Toast reusableToast;
 
-    /**
-     * Sets a flag when bluetooth was switched on durin runtime
-     * @param btOnByUs true, when bluetooth was switched on by the app
-     */
-    public static void setBtOnByUs(boolean btOnByUs) {
-        MINDdroidCV.btOnByUs = btOnByUs;
-    }
+	// experimental TTS support
+	private TextToSpeech mTts;
+	private final int TTS_CHECK_CODE = 9991;
 
-    /**
-     * @return true, when currently pairing 
-     */
-    @Override
-    public boolean isPairing() {
-        return pairing;
-    }
+	/* NUEVO */
+	private int lightSensor = 0;
+	private int touchSensor = 0;
+	/* NUEVO */
 
-    /**
-     * Called when the activity is first created. Inititializes all the
-     * graphical views.
-     */
-    @Override
-    public void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        thisActivity = this;
-        mRobotType = this.getIntent().getIntExtra(SplashMenu.MINDDROID_ROBOT_TYPE, R.id.robot_type_1);
-        setUpByType();
+	/**
+	 * Asks if bluetooth was switched on during the runtime of the app. For saving 
+	 * battery we switch it off when the app is terminated.
+	 * @return true, when bluetooth was switched on by the app
+	 */
+	public static boolean isBtOnByUs() {
+		return btOnByUs;
+	}
 
-        requestWindowFeature(Window.FEATURE_NO_TITLE);
-        StartSound mySound = new StartSound(this);
-        mySound.start();
-        reusableToast = Toast.makeText(this, "", Toast.LENGTH_SHORT);
-        if( mRobotType == R.id.robot_type_5 ) { // opencv usage
-        	showToast("opencv", Toast.LENGTH_SHORT);
-            setContentView(new SampleView(getApplicationContext(), this));        	
-        } else {
-        	showToast("no opencv", Toast.LENGTH_SHORT);
-        	// setup our view, give it focus and display.
-        	mView = new GameView(getApplicationContext(), this);
-        	mView.setFocusable(true);        
-        	setContentView(mView);
-        }
+	/**
+	 * Sets a flag when bluetooth was switched on durin runtime
+	 * @param btOnByUs true, when bluetooth was switched on by the app
+	 */
+	public static void setBtOnByUs(boolean btOnByUs) {
+		MINDdroidCV.btOnByUs = btOnByUs;
+	}
 
-        getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN | WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);        
+	/**
+	 * @return true, when currently pairing 
+	 */
+	@Override
+	public boolean isPairing() {
+		return pairing;
+	}
 
-        // experimental TTS support for the lejosMINDdroid project
-        mTts = new TextToSpeech(this,
-            this  // TextToSpeech.OnInitListener
-            );
-    }
+	/**
+	 * Called when the activity is first created. Inititializes all the
+	 * graphical views.
+	 */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		thisActivity = this;
+		mRobotType = this.getIntent().getIntExtra(SplashMenu.MINDDROID_ROBOT_TYPE, R.id.robot_type_1);
+		setUpByType();
 
-    /**
-     * Initialization of the motor commands for the different robot types.
-     */
-    private void setUpByType() {
-        switch (mRobotType) {
-            case R.id.robot_type_2:
-                motorLeft = BTCommunicator.MOTOR_B;
-                directionLeft = 1;
-                motorRight = BTCommunicator.MOTOR_C;
-                directionRight = 1;
-                motorAction = BTCommunicator.MOTOR_A;
-                directionAction = 1;
-                break;
-            case R.id.robot_type_3:
-                motorLeft = BTCommunicator.MOTOR_C;
-                directionLeft = -1;
-                motorRight = BTCommunicator.MOTOR_B;
-                directionRight = -1;
-                motorAction = BTCommunicator.MOTOR_A;
-                directionAction = 1;
-                break;
-            case R.id.robot_type_5:
-                motorLeft = BTCommunicator.MOTOR_C;
-                directionLeft = 1;
-                motorRight = BTCommunicator.MOTOR_B;
-                directionRight = 1;
-                motorAction = BTCommunicator.MOTOR_A;
-                directionAction = 1;
-                break;
-            default:
-                // default
-                motorLeft = BTCommunicator.MOTOR_B;
-                directionLeft = 1;
-                motorRight = BTCommunicator.MOTOR_C;
-                directionRight = 1;
-                motorAction = BTCommunicator.MOTOR_A;
-                directionAction = 1;
-                break;
-        }
-    }
+		requestWindowFeature(Window.FEATURE_NO_TITLE);
+		StartSound mySound = new StartSound(this);
+		mySound.start();
+		reusableToast = Toast.makeText(this, "", Toast.LENGTH_SHORT);
+		if( mRobotType == R.id.robot_type_5 ) { // opencv usage
+			showToast("opencv", Toast.LENGTH_SHORT);
 
-    /**
-     * Updates the menus and possible buttons when connection status changed.
-     */
-    private void updateButtonsAndMenu() {
+			/* NUEVO */
+			GLSurfaceView glView = new GLSurfaceView( this );
+			glView.setEGLConfigChooser( 8, 8, 8, 8, 16, 0 );
+			glView.getHolder().setFormat( PixelFormat.TRANSLUCENT );
 
-        if (myMenu == null)
-            return;
+			CameraGLRenderer renderer = new CameraGLRenderer();
+			glView.setRenderer(renderer);
 
-        myMenu.removeItem(MENU_TOGGLE_CONNECT);
+			SampleView sView = new SampleView(getApplicationContext(), renderer, this);
+			setContentView( sView );
 
-        if (connected) {
-            myMenu.add(0, MENU_TOGGLE_CONNECT, 1, getResources().getString(R.string.disconnect)).setIcon(R.drawable.ic_menu_connected);
+			addContentView(glView, new LayoutParams( ));
+			/* NUEVO */
 
-        } else {
-            myMenu.add(0, MENU_TOGGLE_CONNECT, 1, getResources().getString(R.string.connect)).setIcon(R.drawable.ic_menu_connect);
-        }
+		} else {
+			showToast("no opencv", Toast.LENGTH_SHORT);
+			// setup our view, give it focus and display.
+			mView = new GameView(getApplicationContext(), this);
+			mView.setFocusable(true);        
+			setContentView(mView);
+		}
 
-    }
+		getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN | WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);        
 
-    /**
-     * Creates a new object for communication to the NXT robot via bluetooth and fetches the corresponding handler.
-     */
-    private void createBTCommunicator() {
-        // interestingly BT adapter needs to be obtained by the UI thread - so we pass it in in the constructor
-        myBTCommunicator = new BTCommunicator(this, myHandler, BluetoothAdapter.getDefaultAdapter(), getResources());
-        btcHandler = myBTCommunicator.getHandler();
-    }
+		// experimental TTS support for the lejosMINDdroid project
+		mTts = new TextToSpeech(this,
+				this  // TextToSpeech.OnInitListener
+				);
+	}
 
-    /**
-     * Creates and starts the a thread for communication via bluetooth to the NXT robot.
-     * @param mac_address The MAC address of the NXT robot.
-     */
-    private void startBTCommunicator(String mac_address) {
-        connected = false;        
-        connectingProgressDialog = ProgressDialog.show(this, "", getResources().getString(R.string.connecting_please_wait), true);
+	/**
+	 * Initialization of the motor commands for the different robot types.
+	 */
+	private void setUpByType() {
+		switch (mRobotType) {
+		case R.id.robot_type_2:
+			motorLeft = BTCommunicator.MOTOR_B;
+			directionLeft = 1;
+			motorRight = BTCommunicator.MOTOR_C;
+			directionRight = 1;
+			motorAction = BTCommunicator.MOTOR_A;
+			directionAction = 1;
+			break;
+		case R.id.robot_type_3:
+			motorLeft = BTCommunicator.MOTOR_C;
+			directionLeft = -1;
+			motorRight = BTCommunicator.MOTOR_B;
+			directionRight = -1;
+			motorAction = BTCommunicator.MOTOR_A;
+			directionAction = 1;
+			break;
+		case R.id.robot_type_5:
+			motorLeft = BTCommunicator.MOTOR_C;
+			directionLeft = 1;
+			motorRight = BTCommunicator.MOTOR_B;
+			directionRight = 1;
+			motorAction = BTCommunicator.MOTOR_A;
+			directionAction = 1;
+			break;
+		default:
+			// default
+			motorLeft = BTCommunicator.MOTOR_B;
+			directionLeft = 1;
+			motorRight = BTCommunicator.MOTOR_C;
+			directionRight = 1;
+			motorAction = BTCommunicator.MOTOR_A;
+			directionAction = 1;
+			break;
+		}
+	}
 
-        if (myBTCommunicator != null) {
-            try {
-                myBTCommunicator.destroyNXTconnection();
-            }
-            catch (IOException e) { }
-        }
-        createBTCommunicator();
-        myBTCommunicator.setMACAddress(mac_address);
-        myBTCommunicator.start();
-        updateButtonsAndMenu();
-    }
+	/**
+	 * Updates the menus and possible buttons when connection status changed.
+	 */
+	private void updateButtonsAndMenu() {
 
-    /**
-     * Sends a message for disconnecting to the communcation thread.
-     */
-    public void destroyBTCommunicator() {
+		if (myMenu == null)
+			return;
 
-        if (myBTCommunicator != null) {
-            sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DISCONNECT, 0, 0);
-            myBTCommunicator = null;
-        }
+		myMenu.removeItem(MENU_TOGGLE_CONNECT);
 
-        connected = false;
-        updateButtonsAndMenu();
-    }
+		if (connected) {
+			myMenu.add(0, MENU_TOGGLE_CONNECT, 1, getResources().getString(R.string.disconnect)).setIcon(R.drawable.ic_menu_connected);
 
-    /**
-     * Gets the current connection status.
-     * @return the current connection status to the robot.
-     */
-    public boolean isConnected() {
-        return connected;
-    }
+		} else {
+			myMenu.add(0, MENU_TOGGLE_CONNECT, 1, getResources().getString(R.string.connect)).setIcon(R.drawable.ic_menu_connect);
+		}
 
-    /**
-     * Method for performing the appropriate action when the ACTION button is pressed shortly.
-     */
-    public void actionButtonPressed() {
-        if (myBTCommunicator != null) {
-            if( mView != null ) {
-            	mView.getThread().mActionPressed = true;
-            }
+	}
 
-            // Wolfgang Amadeus Mozart "Zauberfloete - Der Vogelfaenger bin ich ja"
-            if (mRobotType != R.id.robot_type_4) {
-                sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DO_BEEP, 392, 100);
-                sendBTCmessage(200, BTCommunicator.DO_BEEP, 440, 100);
-                sendBTCmessage(400, BTCommunicator.DO_BEEP, 494, 100);
-                sendBTCmessage(600, BTCommunicator.DO_BEEP, 523, 100);
-                sendBTCmessage(800, BTCommunicator.DO_BEEP, 587, 300);
-                sendBTCmessage(1200, BTCommunicator.DO_BEEP, 523, 300);
-                sendBTCmessage(1600, BTCommunicator.DO_BEEP, 494, 300);
-            }
+	/**
+	 * Creates a new object for communication to the NXT robot via bluetooth and fetches the corresponding handler.
+	 */
+	private void createBTCommunicator() {
+		// interestingly BT adapter needs to be obtained by the UI thread - so we pass it in in the constructor
+		myBTCommunicator = new BTCommunicator(this, myHandler, BluetoothAdapter.getDefaultAdapter(), getResources());
+		btcHandler = myBTCommunicator.getHandler();
+	}
 
-            // MOTOR ACTION: forth an back
-            switch (mRobotType) {
-                
-                case R.id.robot_type_3:
-                    // Robogator: bite the user ;-)
-                    for (int bite=0; bite<3; bite++) {
-                        sendBTCmessage(bite*400, motorAction, 75 * directionAction, 0);
-                        sendBTCmessage(bite*400+200, motorAction, -75 * directionAction, 0);
-                    }    
-                    sendBTCmessage(3*400, motorAction, 0, 0);
-                    break;
-                    
-                case R.id.robot_type_4:
-                    // lejosMINDdroid: just send the message for button press
-                    sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DO_ACTION, 0, 0);
-                    break;
-                    
-                case R.id.robot_type_5:
-                    // 
-                	sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DO_ACTION, 0, 0);
-                    break;                    
-            
-                default:
-                    // other robots: 180 degrees forth and back
-                    sendBTCmessage(BTCommunicator.NO_DELAY, motorAction, 75 * directionAction, 0);
-                    sendBTCmessage(500, motorAction, -75 * directionAction, 0);
-                    sendBTCmessage(1000, motorAction, 0, 0);
-                    break;
-            }
-        }
-    }
+	/**
+	 * Creates and starts the a thread for communication via bluetooth to the NXT robot.
+	 * @param mac_address The MAC address of the NXT robot.
+	 */
+	private void startBTCommunicator(String mac_address) {
+		connected = false;        
+		connectingProgressDialog = ProgressDialog.show(this, "", getResources().getString(R.string.connecting_please_wait), true);
 
-    /**
-     * Method for performing the appropriate action when the ACTION button is long pressed.
-     */
-    public void actionButtonLongPress() {
-        if (myBTCommunicator != null) {
-            if( mView != null ) {
-            	mView.getThread().mActionPressed = true;
-            }
+		if (myBTCommunicator != null) {
+			try {
+				myBTCommunicator.destroyNXTconnection();
+			}
+			catch (IOException e) { }
+		}
+		createBTCommunicator();
+		myBTCommunicator.setMACAddress(mac_address);
+		myBTCommunicator.start();
+		updateButtonsAndMenu();
+	}
 
-            if (programList.size() == 0)
-                showToast(R.string.no_files_found, Toast.LENGTH_SHORT);                
-            
-    		FileDialog myFileDialog = new FileDialog(this, programList);    		    	    		
+	/**
+	 * Sends a message for disconnecting to the communcation thread.
+	 */
+	public void destroyBTCommunicator() {
+
+		if (myBTCommunicator != null) {
+			sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DISCONNECT, 0, 0);
+			myBTCommunicator = null;
+		}
+
+		connected = false;
+		updateButtonsAndMenu();
+	}
+
+	/**
+	 * Gets the current connection status.
+	 * @return the current connection status to the robot.
+	 */
+	public boolean isConnected() {
+		return connected;
+	}
+
+	/**
+	 * Method for performing the appropriate action when the ACTION button is pressed shortly.
+	 */
+	public void actionButtonPressed() {
+		if (myBTCommunicator != null) {
+			if( mView != null ) {
+				mView.getThread().mActionPressed = true;
+			}
+
+			// Wolfgang Amadeus Mozart "Zauberfloete - Der Vogelfaenger bin ich ja"
+			if (mRobotType != R.id.robot_type_4) {
+				sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DO_BEEP, 392, 100);
+				sendBTCmessage(200, BTCommunicator.DO_BEEP, 440, 100);
+				sendBTCmessage(400, BTCommunicator.DO_BEEP, 494, 100);
+				sendBTCmessage(600, BTCommunicator.DO_BEEP, 523, 100);
+				sendBTCmessage(800, BTCommunicator.DO_BEEP, 587, 300);
+				sendBTCmessage(1200, BTCommunicator.DO_BEEP, 523, 300);
+				sendBTCmessage(1600, BTCommunicator.DO_BEEP, 494, 300);
+			}
+
+			// MOTOR ACTION: forth an back
+			switch (mRobotType) {
+
+			case R.id.robot_type_3:
+				// Robogator: bite the user ;-)
+				for (int bite=0; bite<3; bite++) {
+					sendBTCmessage(bite*400, motorAction, 75 * directionAction, 0);
+					sendBTCmessage(bite*400+200, motorAction, -75 * directionAction, 0);
+				}    
+				sendBTCmessage(3*400, motorAction, 0, 0);
+				break;
+
+			case R.id.robot_type_4:
+				// lejosMINDdroid: just send the message for button press
+				sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DO_ACTION, 0, 0);
+				break;
+
+			case R.id.robot_type_5:
+				// 
+				sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.DO_ACTION, 0, 0);
+				break;
+
+			default:
+				// other robots: 180 degrees forth and back
+				sendBTCmessage(BTCommunicator.NO_DELAY, motorAction, 75 * directionAction, 0);
+				sendBTCmessage(500, motorAction, -75 * directionAction, 0);
+				sendBTCmessage(1000, motorAction, 0, 0);
+				break;
+			}
+		}
+	}
+
+	/**
+	 * Method for performing the appropriate action when the ACTION button is long pressed.
+	 */
+	public void actionButtonLongPress() {
+		if (myBTCommunicator != null) {
+			if( mView != null ) {
+				mView.getThread().mActionPressed = true;
+			}
+
+			if (programList.size() == 0)
+				showToast(R.string.no_files_found, Toast.LENGTH_SHORT);
+
+			FileDialog myFileDialog = new FileDialog(this, programList);
 			myFileDialog.show(mRobotType == R.id.robot_type_4);
-        }
+		}
 
-    }
+	}
 
-    /**
-     * Starts a program on the NXT robot.
-     * @param name The program name to start. Has to end with .rxe on the LEGO firmware and with .nxj on the 
-     *             leJOS NXJ firmware.
-     */   
-    public void startProgram(String name) {
-        // for .rxe programs: get program name, eventually stop this and start the new one delayed
-        // is handled in startRXEprogram()
-        if (name.endsWith(".rxe")) {
-            programToStart = name;        
-            sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.GET_PROGRAM_NAME, 0, 0);
-            return;
-        }
-              
-        // for .nxj programs: stop bluetooth communication after starting the program
-        if (name.endsWith(".nxj")) {
-            sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.START_PROGRAM, name);
-            destroyBTCommunicator();
-            return;
-        }        
+	/**
+	 * Starts a program on the NXT robot.
+	 * @param name The program name to start. Has to end with .rxe on the LEGO firmware and with .nxj on the 
+	 *             leJOS NXJ firmware.
+	 */   
+	public void startProgram(String name) {
+		// for .rxe programs: get program name, eventually stop this and start the new one delayed
+		// is handled in startRXEprogram()
+		if (name.endsWith(".rxe")) {
+			programToStart = name;
+			sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.GET_PROGRAM_NAME, 0, 0);
+			return;
+		}
 
-        // for all other programs: just start the program
-        sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.START_PROGRAM, name);
-    }
+		// for .nxj programs: stop bluetooth communication after starting the program
+		if (name.endsWith(".nxj")) {
+			sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.START_PROGRAM, name);
+			destroyBTCommunicator();
+			return;
+		}        
 
-    /**
-     * Depending on the status (whether the program runs already) we stop it, wait and restart it again.
-     * @param status The current status, 0x00 means that the program is already running.
-     */   
-    public void startRXEprogram(byte status) {
-        if (status == 0x00) {
-            sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.STOP_PROGRAM, 0, 0);
-            sendBTCmessage(1000, BTCommunicator.START_PROGRAM, programToStart);
-        }    
-        else {
-            sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.START_PROGRAM, programToStart);
-        }
-    }        
+		// for all other programs: just start the program
+		sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.START_PROGRAM, name);
+	}
 
-    /**
-     * Sends the motor control values to the communcation thread.
-     * @param left The power of the left motor from 0 to 100.
-     * @param rigth The power of the right motor from 0 to 100.
-     */   
-    public void updateMotorControl(int left, int right) {
+	/**
+	 * Depending on the status (whether the program runs already) we stop it, wait and restart it again.
+	 * @param status The current status, 0x00 means that the program is already running.
+	 */   
+	public void startRXEprogram(byte status) {
+		if (status == 0x00) {
+			sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.STOP_PROGRAM, 0, 0);
+			sendBTCmessage(1000, BTCommunicator.START_PROGRAM, programToStart);
+		}    
+		else {
+			sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.START_PROGRAM, programToStart);
+		}
+	}        
 
-        if (myBTCommunicator != null) {
-            // don't send motor stop twice
-            if ((left == 0) && (right == 0)) {
-                if (stopAlreadySent)
-                    return;
-                else
-                    stopAlreadySent = true;
-            }
-            else
-                stopAlreadySent = false;         
-                        
-            // send messages via the handler
-            sendBTCmessage(BTCommunicator.NO_DELAY, motorLeft, left * directionLeft, 0);
-            sendBTCmessage(BTCommunicator.NO_DELAY, motorRight, right * directionRight, 0);
-        }
-    }
+	/**
+	 * Sends the motor control values to the communcation thread.
+	 * @param left The power of the left motor from 0 to 100.
+	 * @param rigth The power of the right motor from 0 to 100.
+	 */   
+	public void updateMotorControl(int left, int right) {
 
-    /**
-     * Sends the message via the BTCommuncator to the robot.
-     * @param delay time to wait before sending the message.
-     * @param message the message type (as defined in BTCommucator)
-     * @param value1 first parameter
-     * @param value2 second parameter
-     */   
-    void sendBTCmessage(int delay, int message, int value1, int value2) {
-        Bundle myBundle = new Bundle();
-        myBundle.putInt("message", message);
-        myBundle.putInt("value1", value1);
-        myBundle.putInt("value2", value2);
-        Message myMessage = myHandler.obtainMessage();
-        myMessage.setData(myBundle);
+		if (myBTCommunicator != null) {
+			// don't send motor stop twice
+			if ((left == 0) && (right == 0)) {
+				if (stopAlreadySent)
+					return;
+				else
+					stopAlreadySent = true;
+			}
+			else
+				stopAlreadySent = false;
 
-        if (delay == 0)
-            btcHandler.sendMessage(myMessage);
+			// send messages via the handler
+			sendBTCmessage(BTCommunicator.NO_DELAY, motorLeft, left * directionLeft, 0);
+			sendBTCmessage(BTCommunicator.NO_DELAY, motorRight, right * directionRight, 0);
+		}
+	}
 
-        else
-            btcHandler.sendMessageDelayed(myMessage, delay);
-    }
+	/**
+	 * Sends the message via the BTCommuncator to the robot.
+	 * @param delay time to wait before sending the message.
+	 * @param message the message type (as defined in BTCommucator)
+	 * @param value1 first parameter
+	 * @param value2 second parameter
+	 */   
+	void sendBTCmessage(int delay, int message, int value1, int value2) {
+		Bundle myBundle = new Bundle();
+		myBundle.putInt("message", message);
+		myBundle.putInt("value1", value1);
+		myBundle.putInt("value2", value2);
+		Message myMessage = myHandler.obtainMessage();
+		myMessage.setData(myBundle);
 
-    /**
-     * Sends the message via the BTCommuncator to the robot.
-     * @param delay time to wait before sending the message.
-     * @param message the message type (as defined in BTCommucator)
-     * @param String a String parameter
-     */       
-    void sendBTCmessage(int delay, int message, String name) {
-        Bundle myBundle = new Bundle();
-        myBundle.putInt("message", message);
-        myBundle.putString("name", name);
-        Message myMessage = myHandler.obtainMessage();
-        myMessage.setData(myBundle);
+		if (delay == 0)
+			btcHandler.sendMessage(myMessage);
 
-        if (delay == 0)
-            btcHandler.sendMessage(myMessage);
-        else
-            btcHandler.sendMessageDelayed(myMessage, delay);
-    }
+		else
+			btcHandler.sendMessageDelayed(myMessage, delay);
+	}
 
-    @Override
-    public void onResume() {
-        super.onResume();
-        if( mView != null ) {
-        	mView.registerListener();
-        }
-    }
+	/**
+	 * Sends the message via the BTCommuncator to the robot.
+	 * @param delay time to wait before sending the message.
+	 * @param message the message type (as defined in BTCommucator)
+	 * @param String a String parameter
+	 */
+	void sendBTCmessage(int delay, int message, String name) {
+		Bundle myBundle = new Bundle();
+		myBundle.putInt("message", message);
+		myBundle.putString("name", name);
+		Message myMessage = myHandler.obtainMessage();
+		myMessage.setData(myBundle);
 
-    @Override
-    protected void onStart() {
-        super.onStart();
+		if (delay == 0)
+			btcHandler.sendMessage(myMessage);
+		else
+			btcHandler.sendMessageDelayed(myMessage, delay);
+	}
 
-        if (!BluetoothAdapter.getDefaultAdapter().isEnabled()) {
-            Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
-            startActivityForResult(enableIntent, REQUEST_ENABLE_BT);
-        } else {
-            selectNXT();
-        }
-    }
+	@Override
+	public void onResume() {
+		super.onResume();
+		if( mView != null ) {
+			mView.registerListener();
+		}
+	}
 
-    @Override
-    protected void onDestroy() {
-        super.onDestroy();
-        destroyBTCommunicator();
-    }
+	@Override
+	protected void onStart() {
+		super.onStart();
 
-    @Override
-    public void onPause() {
-        if( mView != null ) {
-        	mView.unregisterListener();
-        }
-        destroyBTCommunicator();
-        super.onStop();
-    }
+		if (!BluetoothAdapter.getDefaultAdapter().isEnabled()) {
+			Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
+			startActivityForResult(enableIntent, REQUEST_ENABLE_BT);
+		} else {
+			selectNXT();
+		}
+	}
 
-    @Override
-    public void onSaveInstanceState(Bundle icicle) {
-        super.onSaveInstanceState(icicle);
-        if( mView != null ) {
-        	mView.unregisterListener();
-        }
-    }
+	@Override
+	protected void onDestroy() {
+		super.onDestroy();
+		destroyBTCommunicator();
+	}
 
-    /**
-     * Creates the menu items
-     */
-    @Override
-    public boolean onCreateOptionsMenu(Menu menu) {
-        myMenu = menu;
-        myMenu.add(0, MENU_TOGGLE_CONNECT, 1, getResources().getString(R.string.connect)).setIcon(R.drawable.ic_menu_connect);
-        myMenu.add(0, MENU_QUIT, 2, getResources().getString(R.string.quit)).setIcon(R.drawable.ic_menu_exit);
-        updateButtonsAndMenu();
-        return true;
-    }
+	@Override
+	public void onPause() {
+		if( mView != null ) {
+			mView.unregisterListener();
+		}
+		destroyBTCommunicator();
+		super.onStop();
+	}
 
-    /**
-     * Handles item selections
-     */
-    @Override
-    public boolean onOptionsItemSelected(MenuItem item) {
-        switch (item.getItemId()) {
-            case MENU_TOGGLE_CONNECT:
+	@Override
+	public void onSaveInstanceState(Bundle icicle) {
+		super.onSaveInstanceState(icicle);
+		if( mView != null ) {
+			mView.unregisterListener();
+		}
+	}
 
-                if (myBTCommunicator == null || connected == false) {
-                    selectNXT();
+	/**
+	 * Creates the menu items
+	 */
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		myMenu = menu;
+		myMenu.add(0, MENU_TOGGLE_CONNECT, 1, getResources().getString(R.string.connect)).setIcon(R.drawable.ic_menu_connect);
+		myMenu.add(0, MENU_QUIT, 2, getResources().getString(R.string.quit)).setIcon(R.drawable.ic_menu_exit);
+		updateButtonsAndMenu();
+		return true;
+	}
 
-                } else {
-                    destroyBTCommunicator();
-                    updateButtonsAndMenu();
-                }
+	/**
+	 * Handles item selections
+	 */
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		switch (item.getItemId()) {
+		case MENU_TOGGLE_CONNECT:
 
-                return true;
-            case MENU_QUIT:
-                destroyBTCommunicator();
-                finish();
+			if (myBTCommunicator == null || connected == false) {
+				selectNXT();
 
-                if (btOnByUs)
-                    showToast(R.string.bt_off_message, Toast.LENGTH_SHORT);
+			} else {
+				destroyBTCommunicator();
+				updateButtonsAndMenu();
+			}
 
-                SplashMenu.quitApplication();
-                return true;
-        }
+			return true;
+		case MENU_QUIT:
+			destroyBTCommunicator();
+			finish();
 
-        return false;
-    }
+			if (btOnByUs)
+				showToast(R.string.bt_off_message, Toast.LENGTH_SHORT);
 
-    /**
-     * Displays a message as a toast
-     * @param textToShow the message
-     * @param length the length of the toast to display
-     */
-    private void showToast(String textToShow, int length) {
-        reusableToast.setText(textToShow);
-        reusableToast.setDuration(length);
-        reusableToast.show();
-    }
+			SplashMenu.quitApplication();
+			return true;
+		}
 
-    /**
-     * Displays a message as a toast
-     * @param resID the ressource ID to display
-     * @param length the length of the toast to display
-     */
-    private void showToast(int resID, int length) {
-        reusableToast.setText(resID);
-        reusableToast.setDuration(length);
-        reusableToast.show();
-    }
-    
-    /**
-     * Receive messages from the BTCommunicator
-     */
-    final Handler myHandler = new Handler() {
-        @Override
-        public void handleMessage(Message myMessage) {
-            switch (myMessage.getData().getInt("message")) {
-                case BTCommunicator.DISPLAY_TOAST:
-                    showToast(myMessage.getData().getString("toastText"), Toast.LENGTH_SHORT);
-                    break;
-                case BTCommunicator.STATE_CONNECTED:
-                    connected = true;
-                    programList = new ArrayList<String>();
-                    connectingProgressDialog.dismiss();
-                    updateButtonsAndMenu();
-                    sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.GET_FIRMWARE_VERSION, 0, 0);
-                    break;
-                case BTCommunicator.MOTOR_STATE:
+		return false;
+	}
 
-                    if (myBTCommunicator != null) {
-                        byte[] motorMessage = myBTCommunicator.getReturnMessage();
-                        int position = byteToInt(motorMessage[21]) + (byteToInt(motorMessage[22]) << 8) + (byteToInt(motorMessage[23]) << 16)
-                                       + (byteToInt(motorMessage[24]) << 24);
-                        showToast(getResources().getString(R.string.current_position) + position, Toast.LENGTH_SHORT);
-                    }
+	/**
+	 * Displays a message as a toast
+	 * @param textToShow the message
+	 * @param length the length of the toast to display
+	 */
+	private void showToast(String textToShow, int length) {
+		reusableToast.setText(textToShow);
+		reusableToast.setDuration(length);
+		reusableToast.show();
+	}
 
-                    break;
+	/**
+	 * Displays a message as a toast
+	 * @param resID the ressource ID to display
+	 * @param length the length of the toast to display
+	 */
+	private void showToast(int resID, int length) {
+		reusableToast.setText(resID);
+		reusableToast.setDuration(length);
+		reusableToast.show();
+	}
 
-                case BTCommunicator.STATE_CONNECTERROR_PAIRING:
-                    connectingProgressDialog.dismiss();
-                    destroyBTCommunicator();
-                    break;
+	/**
+	 * Receive messages from the BTCommunicator
+	 */
+	final Handler myHandler = new Handler() {
+		@Override
+		public void handleMessage(Message myMessage) {
+			switch (myMessage.getData().getInt("message")) {
+			case BTCommunicator.DISPLAY_TOAST:
+				showToast(myMessage.getData().getString("toastText"), Toast.LENGTH_SHORT);
+				break;
+			case BTCommunicator.STATE_CONNECTED:
+				connected = true;
+				programList = new ArrayList<String>();
+				connectingProgressDialog.dismiss();
+				updateButtonsAndMenu();
+				sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.GET_FIRMWARE_VERSION, 0, 0);
+				break;
+			case BTCommunicator.MOTOR_STATE:
 
-                case BTCommunicator.STATE_CONNECTERROR:
-                    connectingProgressDialog.dismiss();
-                case BTCommunicator.STATE_RECEIVEERROR:
-                case BTCommunicator.STATE_SENDERROR:
+				if (myBTCommunicator != null) {
+					byte[] motorMessage = myBTCommunicator.getReturnMessage();
+					int position = byteToInt(motorMessage[21]) + (byteToInt(motorMessage[22]) << 8) + (byteToInt(motorMessage[23]) << 16)
+							+ (byteToInt(motorMessage[24]) << 24);
+					showToast(getResources().getString(R.string.current_position) + position, Toast.LENGTH_SHORT);
+				}
 
-                    destroyBTCommunicator();
-                    if (btErrorPending == false) {
-                        btErrorPending = true;
-                        // inform the user of the error with an AlertDialog
-                        AlertDialog.Builder builder = new AlertDialog.Builder(thisActivity);
-                        builder.setTitle(getResources().getString(R.string.bt_error_dialog_title))
-                        .setMessage(getResources().getString(R.string.bt_error_dialog_message)).setCancelable(false)
-                        .setPositiveButton("OK", new DialogInterface.OnClickListener() {
-                            @Override
-                            public void onClick(DialogInterface dialog, int id) {
-                                btErrorPending = false;
-                                dialog.cancel();
-                                selectNXT();
-                            }
-                        });
-                        builder.create().show();
-                    }
+				break;
 
-                    break;
+			case BTCommunicator.STATE_CONNECTERROR_PAIRING:
+				connectingProgressDialog.dismiss();
+				destroyBTCommunicator();
+				break;
 
-                case BTCommunicator.FIRMWARE_VERSION:
+			case BTCommunicator.STATE_CONNECTERROR:
+				connectingProgressDialog.dismiss();
+			case BTCommunicator.STATE_RECEIVEERROR:
+			case BTCommunicator.STATE_SENDERROR:
 
-                    if (myBTCommunicator != null) {
-                        byte[] firmwareMessage = myBTCommunicator.getReturnMessage();
-                        // check if we know the firmware
-                        boolean isLejosMindDroid = true;
-                        for (int pos=0; pos<4; pos++) {
-                            if (firmwareMessage[pos + 3] != LCPMessage.FIRMWARE_VERSION_LEJOSMINDDROID[pos]) {
-                                isLejosMindDroid = false;
-                                break;
-                            }
-                        }
-                        if (isLejosMindDroid) {
-                            mRobotType = R.id.robot_type_4;
-                            setUpByType();
-                        }
-                        // afterwards we search for all files on the robot
-                        sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.FIND_FILES, 0, 0);
-                    }
+				destroyBTCommunicator();
+				if (btErrorPending == false) {
+					btErrorPending = true;
+					// inform the user of the error with an AlertDialog
+					AlertDialog.Builder builder = new AlertDialog.Builder(thisActivity);
+					builder.setTitle(getResources().getString(R.string.bt_error_dialog_title))
+					.setMessage(getResources().getString(R.string.bt_error_dialog_message)).setCancelable(false)
+					.setPositiveButton("OK", new DialogInterface.OnClickListener() {
+						@Override
+						public void onClick(DialogInterface dialog, int id) {
+							btErrorPending = false;
+							dialog.cancel();
+							selectNXT();
+						}
+					});
+					builder.create().show();
+				}
 
-                    break;
+				break;
 
-                case BTCommunicator.FIND_FILES:
+			case BTCommunicator.FIRMWARE_VERSION:
 
-                    if (myBTCommunicator != null) {
-                        byte[] fileMessage = myBTCommunicator.getReturnMessage();
-                        String fileName = new String(fileMessage, 4, 20);
-                        fileName = fileName.replaceAll("\0","");
+				if (myBTCommunicator != null) {
+					byte[] firmwareMessage = myBTCommunicator.getReturnMessage();
+					// check if we know the firmware
+					boolean isLejosMindDroid = true;
+					for (int pos=0; pos<4; pos++) {
+						if (firmwareMessage[pos + 3] != LCPMessage.FIRMWARE_VERSION_LEJOSMINDDROID[pos]) {
+							isLejosMindDroid = false;
+							break;
+						}
+					}
+					if (isLejosMindDroid) {
+						mRobotType = R.id.robot_type_4;
+						setUpByType();
+					}
+					// afterwards we search for all files on the robot
+					sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.FIND_FILES, 0, 0);
+				}
 
-                        if (mRobotType == R.id.robot_type_4 || fileName.endsWith(".nxj") || fileName.endsWith(".rxe")) {
-                            programList.add(fileName);
-                        }
+				break;
 
-                        // find next entry with appropriate handle, 
-                        // limit number of programs (in case of error (endless loop))
-                        if (programList.size() <= MAX_PROGRAMS)
-                            sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.FIND_FILES,
-                                           1, byteToInt(fileMessage[3]));
-                    }
+			case BTCommunicator.FIND_FILES:
 
-                    break;
-                    
-                case BTCommunicator.PROGRAM_NAME:
-                    if (myBTCommunicator != null) {
-                        byte[] returnMessage = myBTCommunicator.getReturnMessage();
-                        startRXEprogram(returnMessage[2]);
-                    }
-                    
-                    break;
-                    
-                case BTCommunicator.SAY_TEXT:
-                    if (myBTCommunicator != null) {
-                        byte[] textMessage = myBTCommunicator.getReturnMessage();
-                        // evaluate control byte 
-                        byte controlByte = textMessage[2];
-                        // BIT7: Language
-                        if ((controlByte & 0x80) == 0x00) 
-                            mTts.setLanguage(Locale.US);
-                        else
-                            mTts.setLanguage(Locale.getDefault());
-                        // BIT6: Pitch
-                        if ((controlByte & 0x40) == 0x00)
-                            mTts.setPitch(1.0f);
-                        else
-                            mTts.setPitch(0.75f);
-                        // BIT0-3: Speech Rate    
-                        switch (controlByte & 0x0f) {
-                            case 0x01: 
-                                mTts.setSpeechRate(1.5f);
-                                break;                                 
-                            case 0x02: 
-                                mTts.setSpeechRate(0.75f);
-                                break;
-                            
-                            default: mTts.setSpeechRate(1.0f);
-                                break;
-                        }
-                                                                                                        
-                        String ttsText = new String(textMessage, 3, 19);
-                        ttsText = ttsText.replaceAll("\0","");
-                        showToast(ttsText, Toast.LENGTH_SHORT);
-                        mTts.speak(ttsText, TextToSpeech.QUEUE_FLUSH, null);
-                    }
-                    
-                    break;                    
-                    
-                case BTCommunicator.VIBRATE_PHONE:
-                    if (myBTCommunicator != null) {
-                        byte[] vibrateMessage = myBTCommunicator.getReturnMessage();
-                        Vibrator myVibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
-                        myVibrator.vibrate(vibrateMessage[2]*10);
-                    }
-                    
-                    break;
-            }
-        }
-    };
+				if (myBTCommunicator != null) {
+					byte[] fileMessage = myBTCommunicator.getReturnMessage();
+					String fileName = new String(fileMessage, 4, 20);
+					fileName = fileName.replaceAll("\0","");
 
-    private int byteToInt(byte byteValue) {
-        int intValue = (byteValue & (byte) 0x7f);
+					if (mRobotType == R.id.robot_type_4 || fileName.endsWith(".nxj") || fileName.endsWith(".rxe")) {
+						programList.add(fileName);
+					}
 
-        if ((byteValue & (byte) 0x80) != 0)
-            intValue |= 0x80;
+					// find next entry with appropriate handle, 
+					// limit number of programs (in case of error (endless loop))
+					if (programList.size() <= MAX_PROGRAMS)
+						sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.FIND_FILES,
+								1, byteToInt(fileMessage[3]));
+				}
 
-        return intValue;
-    }
+				break;
 
-    void selectNXT() {
-        Intent serverIntent = new Intent(this, DeviceListActivity.class);
-        startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
-    }
+			case BTCommunicator.PROGRAM_NAME:
+				if (myBTCommunicator != null) {
+					byte[] returnMessage = myBTCommunicator.getReturnMessage();
+					startRXEprogram(returnMessage[2]);
+				}
 
-    @Override
-    public void onActivityResult(int requestCode, int resultCode, Intent data) {
-        switch (requestCode) {
-            case REQUEST_CONNECT_DEVICE:
+				break;
 
-                // When DeviceListActivity returns with a device to connect
-                if (resultCode == Activity.RESULT_OK) {
-                    // Get the device MAC address and start a new bt communicator thread
-                    String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
-                    pairing = data.getExtras().getBoolean(DeviceListActivity.PAIRING);
-                    startBTCommunicator(address);
-                }
-                
-                break;
-                
-            case REQUEST_ENABLE_BT:
+			case BTCommunicator.SAY_TEXT:
+				if (myBTCommunicator != null) {
+					byte[] textMessage = myBTCommunicator.getReturnMessage();
+					// evaluate control byte 
+					byte controlByte = textMessage[2];
+					// BIT7: Language
+					if ((controlByte & 0x80) == 0x00) 
+						mTts.setLanguage(Locale.US);
+					else
+						mTts.setLanguage(Locale.getDefault());
+					// BIT6: Pitch
+					if ((controlByte & 0x40) == 0x00)
+						mTts.setPitch(1.0f);
+					else
+						mTts.setPitch(0.75f);
+					// BIT0-3: Speech Rate    
+					switch (controlByte & 0x0f) {
+					case 0x01: 
+						mTts.setSpeechRate(1.5f);
+						break;
+					case 0x02:
+						mTts.setSpeechRate(0.75f);
+						break;
 
-                // When the request to enable Bluetooth returns
-                switch (resultCode) {
-                    case Activity.RESULT_OK:
-                        btOnByUs = true;
-                        selectNXT();
-                        break;
-                    case Activity.RESULT_CANCELED:
-                        showToast(R.string.bt_needs_to_be_enabled, Toast.LENGTH_SHORT);
-                        finish();
-                        break;
-                    default:
-                        showToast(R.string.problem_at_connecting, Toast.LENGTH_SHORT);
-                        finish();
-                        break;
-                }
-                
-                break;
+					default: mTts.setSpeechRate(1.0f);
+					break;
+					}
 
-            // will not be called now, since the check intent is not generated                
-            case TTS_CHECK_CODE:
-                if (resultCode == TextToSpeech.Engine.CHECK_VOICE_DATA_PASS) {
-                    // success, create the TTS instance
-                    mTts = new TextToSpeech(this, this);
-                } 
-                else {
-                    // missing data, install it
-                    Intent installIntent = new Intent();
-                    installIntent.setAction(
-                        TextToSpeech.Engine.ACTION_INSTALL_TTS_DATA);
-                    startActivity(installIntent);
-                }
-                
-                break;                
-        }
-    }
+					String ttsText = new String(textMessage, 3, 19);
+					ttsText = ttsText.replaceAll("\0","");
+					showToast(ttsText, Toast.LENGTH_SHORT);
+					mTts.speak(ttsText, TextToSpeech.QUEUE_FLUSH, null);
+				}
 
-    /**
-     * Initializing of the TTS engine.
-     */
-    public void onInit(int status) {
-        // status can be either TextToSpeech.SUCCESS or TextToSpeech.ERROR.
-        if (status == TextToSpeech.SUCCESS) {
-            // Set preferred language to US english.
-            // Note that a language may not be available, and the result will indicate this.
-            int result = mTts.setLanguage(Locale.US);
-            // Try this someday for some interesting results.
-            if (result == TextToSpeech.LANG_MISSING_DATA ||
-                result == TextToSpeech.LANG_NOT_SUPPORTED) {            
-                // Language data is missing or the language is not supported.
-                if (mRobotType == R.id.robot_type_4)
-                    showToast(R.string.tts_language_not_supported, Toast.LENGTH_LONG);
-            } 
-        } else {
-            // Initialization failed.
-            if (mRobotType == R.id.robot_type_4)
-                showToast(R.string.tts_initialization_failure, Toast.LENGTH_LONG);
-        }
-    }
+				break;
+
+			case BTCommunicator.VIBRATE_PHONE:
+				if (myBTCommunicator != null) {
+					byte[] vibrateMessage = myBTCommunicator.getReturnMessage();
+					Vibrator myVibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
+					myVibrator.vibrate(vibrateMessage[2]*10);
+				}
+
+				break;
+
+				/* NUEVO */
+			case BTCommunicator.UPDATE_SENSOR:
+				/*String msg2str = "";
+				Log.d("MINDDroidCV.java", "UPDATE SENSORS HANDLER");*/
+				if(myBTCommunicator != null) {
+					byte[] sensor_message = myBTCommunicator.getReturnMessage();
+					if(sensor_message[3] == 0){
+						// Sensor de luz.
+						lightSensor = (sensor_message[9] << 8) + sensor_message[8];
+						/*for(int i = 0; i < sensor_message.length; ++i)
+							msg2str += String.format("%02x ", sensor_message[i]);
+						msg2str = String.format("%s :: VALUE %d", msg2str, lightSensor);*/
+					}else if(sensor_message[3] == 1){
+						// Sensor de tacto.
+						touchSensor = (sensor_message[11] << 8) + sensor_message[10];
+						/*for(int i = 0; i < sensor_message.length; ++i)
+							msg2str += String.format("%02x", sensor_message[i]);
+						msg2str = String.format("%s :: VALUE %d", msg2str, touchSensor);*/
+					}
+				}
+				/*Log.d("MINDDroidCV.java", msg2str);*/
+
+				break;
+				/* NUEVO */
+			}
+		}
+	};
+
+	private int byteToInt(byte byteValue) {
+		int intValue = (byteValue & (byte) 0x7f);
+
+		if ((byteValue & (byte) 0x80) != 0)
+			intValue |= 0x80;
+
+		return intValue;
+	}
+
+	void selectNXT() {
+		Intent serverIntent = new Intent(this, DeviceListActivity.class);
+		startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
+	}
+
+	@Override
+	public void onActivityResult(int requestCode, int resultCode, Intent data) {
+		switch (requestCode) {
+		case REQUEST_CONNECT_DEVICE:
+
+			// When DeviceListActivity returns with a device to connect
+			if (resultCode == Activity.RESULT_OK) {
+				// Get the device MAC address and start a new bt communicator thread
+				String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
+				pairing = data.getExtras().getBoolean(DeviceListActivity.PAIRING);
+				startBTCommunicator(address);
+			}
+
+			break;
+
+		case REQUEST_ENABLE_BT:
+
+			// When the request to enable Bluetooth returns
+			switch (resultCode) {
+			case Activity.RESULT_OK:
+				btOnByUs = true;
+				selectNXT();
+				break;
+			case Activity.RESULT_CANCELED:
+				showToast(R.string.bt_needs_to_be_enabled, Toast.LENGTH_SHORT);
+				finish();
+				break;
+			default:
+				showToast(R.string.problem_at_connecting, Toast.LENGTH_SHORT);
+				finish();
+				break;
+			}
+
+			break;
+
+			// will not be called now, since the check intent is not generated                
+		case TTS_CHECK_CODE:
+			if (resultCode == TextToSpeech.Engine.CHECK_VOICE_DATA_PASS) {
+				// success, create the TTS instance
+				mTts = new TextToSpeech(this, this);
+			} 
+			else {
+				// missing data, install it
+				Intent installIntent = new Intent();
+				installIntent.setAction(
+						TextToSpeech.Engine.ACTION_INSTALL_TTS_DATA);
+				startActivity(installIntent);
+			}
+
+			break;
+		}
+	}
+
+	/**
+	 * Initializing of the TTS engine.
+	 */
+	public void onInit(int status) {
+		// status can be either TextToSpeech.SUCCESS or TextToSpeech.ERROR.
+		if (status == TextToSpeech.SUCCESS) {
+			// Set preferred language to US english.
+			// Note that a language may not be available, and the result will indicate this.
+			int result = mTts.setLanguage(Locale.US);
+			// Try this someday for some interesting results.
+			if (result == TextToSpeech.LANG_MISSING_DATA ||
+					result == TextToSpeech.LANG_NOT_SUPPORTED) {            
+				// Language data is missing or the language is not supported.
+				if (mRobotType == R.id.robot_type_4)
+					showToast(R.string.tts_language_not_supported, Toast.LENGTH_LONG);
+			} 
+		} else {
+			// Initialization failed.
+			if (mRobotType == R.id.robot_type_4)
+				showToast(R.string.tts_initialization_failure, Toast.LENGTH_LONG);
+		}
+	}
+	
+	/* NUEVO */
+	public int getLightSensorReading(){
+		return lightSensor;
+	}
+	
+	public int getTouchSensorReading(){
+		return touchSensor;
+	}
+	/* NUEVO */
 }
+
diff --git a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/NXJUploader.java b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/NXJUploader.java
index c3d5f66..0212b46 100644
--- a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/NXJUploader.java
+++ b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/NXJUploader.java
@@ -251,7 +251,6 @@ public class NXJUploader extends Activity implements UploadThreadListener, Dialo
                 textView = (TextView) findViewById(R.id.nxt_name);
                 textView.setText(text);
                 break;
-
             case DIALOG_FILE:
                 textView = (TextView) findViewById(R.id.nxj_file_name);
                 textView.setText(text);
diff --git a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/SampleView.java b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/SampleView.java
index 6e0665f..34ae7f1 100644
--- a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/SampleView.java
+++ b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/SampleView.java
@@ -1,29 +1,112 @@
 package com.lego.minddroid;
 
 import android.content.Context;
-import android.graphics.Bitmap;
+import android.hardware.Camera;
+import android.util.Log;
+import android.view.SurfaceHolder;
+import android.view.SurfaceView;
 
-class SampleView extends SampleViewBase {
-	
-	public SampleView(Context context, MINDdroidCV uiActivity) {
-		super(context,uiActivity);
+class SampleView extends SurfaceView implements SurfaceHolder.Callback {
+	private SurfaceHolder mHolder;
+	private Camera mCamera;
+	private static final String TAG = "CAMERA_PREVIEW";
+	private int mFrameWidth;
+	private int mFrameHeight;
+	protected CameraGLRenderer mGLRender;
+	protected MINDdroidCV mActivity;
+	protected double[]buffer;
+	protected int left, right;
+
+	public SampleView(Context context, CameraGLRenderer renderer, MINDdroidCV uiActivity) {
+		super(context);
+		mCamera = Camera.open();
+		mGLRender = renderer;
+		mActivity = uiActivity;
+
+		// Install a SurfaceHolder.Callback so we get notified when the
+		// underlying surface is created and destroyed.
+		mHolder = getHolder();
+		mHolder.addCallback(this);
+		// deprecated setting, but required on Android versions prior to 3.0
+		mHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
+
+		renderer.setMActivity(uiActivity);
+
+		Log.i(TAG, "Instantiated new " + this.getClass());
 	}
-	
-	@Override
-	protected Bitmap processFrame(byte[] data) {
-        int frameSize = getFrameWidth() * getFrameHeight();
-        int[] rgba = new int[frameSize];
 
- 		FindLight(getFrameWidth(), getFrameHeight(), data, rgba,buffer);
+	public void surfaceCreated(SurfaceHolder holder) {
+		// The Surface has been created, now tell the camera where to draw the preview.
+		try {
 
-        Bitmap bmp = Bitmap.createBitmap(getFrameWidth(), getFrameHeight(), Bitmap.Config.ARGB_8888);
-        bmp.setPixels(rgba, 0/* offset */, getFrameWidth() /* stride */, 0, 0, getFrameWidth(), getFrameHeight());
-        return bmp;
+			/**/
+			mCamera.setPreviewDisplay(mHolder);
+			mCamera.startPreview();
+
+		} catch (Exception e) {
+			Log.d(TAG, "Error setting camera preview: " + e.getMessage());
+		}
 	}
-	
-	public native void FindLight(int width, int height, byte yuv[], int[] rgba,double[] array);
 
-	static {
-		System.loadLibrary("mixed_sample");
+	public int getFrameWidth() {
+		return mFrameWidth;
+	}
+
+	public int getFrameHeight() {
+		return mFrameHeight;
+	}
+
+
+	public void surfaceDestroyed(SurfaceHolder holder) {
+		// Surface will be destroyed when we return, so stop the preview.
+		// Because the CameraDevice object is not a shared resource, it's very
+		// important to release it when the activity is paused.
+		try {
+			if (mCamera!=null) {
+				mCamera.stopPreview();
+				mCamera.setPreviewCallback(null);
+				mCamera.release();        // release the camera for other applications
+				mCamera = null;
+			}
+		} catch (Exception e) {
+
+		}
+	}
+
+	public void surfaceChanged(SurfaceHolder holder, int format, int w, int h) {
+		// If your preview can change or rotate, take care of those events here.
+		// Make sure to stop the preview before resizing or reformatting it.
+
+		mFrameWidth = w;
+		mFrameHeight = h;
+
+		if (mHolder.getSurface() == null){
+			// preview surface does not exist
+			return;
+		}
+
+		// stop preview before making changes
+		try {
+			mCamera.stopPreview();
+		} catch (Exception e){
+			// ignore: tried to stop a non-existent preview
+		}
+
+		// set preview size and make any resize, rotate or
+		// reformatting changes here
+
+		// start preview with new settings
+		try {
+			Camera.Parameters p = mCamera.getParameters();
+			p.setPreviewSize(240, 160);
+			mCamera.setParameters(p);
+			mGLRender.w = w;
+			mGLRender.h = h;
+			mCamera.setPreviewDisplay(mHolder);
+			mCamera.startPreview();
+			mCamera.setPreviewCallback(mGLRender);
+		} catch (Exception e){
+			Log.d(TAG, "Error starting camera preview: " + e.getMessage());
+		}
 	}
 }
diff --git a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/SampleViewBase.java b/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/SampleViewBase.java
deleted file mode 100644
index 9644ceb..0000000
--- a/MINDdroidCV_MINDSTORMS/src/com/lego/minddroid/SampleViewBase.java
+++ /dev/null
@@ -1,182 +0,0 @@
-package com.lego.minddroid;
-
-import java.io.IOException;
-import java.text.DecimalFormat;
-import java.util.List;
-
-import android.content.Context;
-import android.graphics.Bitmap;
-import android.graphics.Canvas;
-import android.graphics.Color;
-import android.graphics.Paint;
-import android.graphics.Rect;
-import android.hardware.Camera;
-import android.hardware.Camera.PreviewCallback;
-import android.util.Log;
-import android.view.SurfaceHolder;
-import android.view.SurfaceView;
-
-public abstract class SampleViewBase extends SurfaceView implements SurfaceHolder.Callback, Runnable {
-    private static final String TAG = "Sample::SurfaceView";
-
-    private Camera              mCamera;
-    private SurfaceHolder       mHolder;
-    private int                 mFrameWidth;
-    private int                 mFrameHeight;
-    private byte[]              mFrame;
-    private boolean             mThreadRun;
-    protected MINDdroidCV mActivity;    
-    protected double[]buffer;
-    protected int left, right;
-
-    public SampleViewBase(Context context, MINDdroidCV uiActivity) {
-        super(context);
-        mActivity = uiActivity;
-        
-        mHolder = getHolder();
-        mHolder.addCallback(this);
-		buffer = new double[10];
-        Log.i(TAG, "Instantiated new " + this.getClass());
-    }
-
-    public int getFrameWidth() {
-        return mFrameWidth;
-    }
-
-    public int getFrameHeight() {
-        return mFrameHeight;
-    }
-
-    public void surfaceChanged(SurfaceHolder _holder, int format, int width, int height) {
-        Log.i(TAG, "surfaceCreated");
-        if (mCamera != null) {
-            Camera.Parameters params = mCamera.getParameters();            
-            List<Camera.Size> sizes = params.getSupportedPreviewSizes();
-            mFrameWidth = width;
-            mFrameHeight = height;
-
-            // selecting optimal camera preview size
-            {
-                double minDiff = Double.MAX_VALUE;
-                for (Camera.Size size : sizes) {
-                    if (Math.abs(size.height - height) < minDiff) {
-                        mFrameWidth = size.width;
-                        mFrameHeight = size.height;
-                        minDiff = Math.abs(size.height - height);
-                    }
-                }
-            }
-
-            params.setPreviewSize(getFrameWidth(), getFrameHeight());
-            mCamera.setParameters(params);
-            //mCamera.setDisplayOrientation(180);
-            
-            try {
-				mCamera.setPreviewDisplay(null);
-			} catch (IOException e) {
-				Log.e(TAG, "mCamera.setPreviewDisplay fails: " + e);
-			}
-            mCamera.startPreview();
-        }
-    }       
-
-    public void surfaceCreated(SurfaceHolder holder) {
-        Log.i(TAG, "surfaceCreated");
-        mCamera = Camera.open();
-        mCamera.setPreviewCallback(new PreviewCallback() {
-            public void onPreviewFrame(byte[] data, Camera camera) {
-                synchronized (SampleViewBase.this) {
-                    mFrame = data;
-                    SampleViewBase.this.notify();
-                }
-            }
-        });
-        (new Thread(this)).start();
-    }
-
-    public void surfaceDestroyed(SurfaceHolder holder) {
-        Log.i(TAG, "surfaceDestroyed");
-        mThreadRun = false;
-        if (mCamera != null) {
-            synchronized (this) {
-                mCamera.stopPreview();
-                mCamera.setPreviewCallback(null);
-                mCamera.release();
-                mCamera = null;
-            }
-        }
-    }
-
-    protected abstract Bitmap processFrame(byte[] data);
-
-    public void run() {
-        mThreadRun = true;
-        Log.i(TAG, "Starting processing thread");
-        while (mThreadRun) {
-            Bitmap bmp = null;
-
-            synchronized (this) {
-                try {
-                    this.wait();
-                    bmp = processFrame(mFrame);
-                } catch (InterruptedException e) {
-                    e.printStackTrace();
-                }
-            }
-
-            if (bmp != null) {
-                Canvas canvas = mHolder.lockCanvas();
-                calculateMove();
-                if (canvas != null) {
-                    canvas.drawBitmap(bmp,0.0f,0.0f,null); //(canvas.getWidth() - getFrameWidth()) / 2, (canvas.getHeight() - getFrameHeight()) / 2, null);
-                	
-                    //drawText(canvas,buffer);
-                    mHolder.unlockCanvasAndPost(canvas);
-                }
-                bmp.recycle();
-            }
-        }
-    }
-    
-    void drawText(Canvas canvas,double[] buffer) {
-        Paint paint = new Paint();
-        paint.setStyle(Paint.Style.FILL);
-        paint.setColor(Color.WHITE);
-        DecimalFormat twoPlaces = new DecimalFormat("0.00");
-        String todraw = ":" + twoPlaces.format(buffer[0]) + ":" + 
-        							twoPlaces.format(buffer[1]) + ":" + 
-        							twoPlaces.format(buffer[2]) + ":" +
-        							left + ":" + right + ":";
-        Paint bpaint = new Paint();
-        bpaint.setStyle(Paint.Style.FILL);
-        bpaint.setColor(Color.BLUE);
-        Rect rect = new Rect(0,0,250,50);
-        canvas.drawRect(rect , bpaint);
-        canvas.drawText(todraw, 0, todraw.length(), 10.0f, 10.0f, paint);    	
-    }
-    
-    void calculateMove() {
-    	// buffer[1] holds the light direction info if the phone is in landscape format
-    	// small values -> turn left
-    	// large values -> turn right
-    	// in portrait mode buffer[2] should be used 
-    	// large values -> turn right 
-    	// small values -> turn left
-    	if( buffer[0] > 100 ) { // light is visible
-    		int forwardSpeed = 50;
-    		double upScale = 40; 
-    		//double direction = (buffer[1] - getFrameWidth()/2)/getFrameWidth();
-    		double direction = -1.0 * (buffer[2] - getFrameHeight()/2)/getFrameHeight();
-    		left = (int)(upScale * direction) + forwardSpeed;
-    		right = (int)(-1.0 * upScale * direction) + forwardSpeed;
-    	} else {
-    		left = 0;
-    		right = 0;
-    	}
-    	left = Math.min(Math.max(left,0),100);
-    	right = Math.min(Math.max(right,0),100);
-    	
-    	mActivity.updateMotorControl(left,right);
-    }
-
-}
\ No newline at end of file