From 189e4fe37803dbfbaa3d9222c03d25d4e02071b7 Mon Sep 17 00:00:00 2001
From: unknown <sonofgrendel@gmail.com>
Date: Wed, 18 Jun 2014 12:03:32 -0430
Subject: [PATCH] Cleaned the code a bit. Fixed the extension bit masks.

---
 src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java   | 18 ++++++++----------
 .../ccg/nxtarbot/protocol/MotorMasks.java      |  5 +++--
 2 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java b/src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java
index 51a1331..8e40d5f 100644
--- a/src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java
+++ b/src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java
@@ -40,7 +40,7 @@ public class NxtAR_bot{
 	private static SensorReportThread sendThread;
 
 	/**
-	 * <p>Finishes the communication threads anc closes the Bluetooth data streams, 
+	 * <p>Finishes the communication threads and closes the Bluetooth data streams, 
 	 * then quits the application.</p>
 	 */
 	private static void quit(){
@@ -78,7 +78,7 @@ public class NxtAR_bot{
 
 		// Start the light sensor and calibrate it.
 		LightSensor lightSensor = new LightSensor(SensorPort.S1);
-		lightSensor.setFloodlight(false);
+		lightSensor.setFloodlight(true);
 
 		System.out.println("Point at dark\nand press ENTER");
 		Button.ENTER.waitForPress();
@@ -89,6 +89,7 @@ public class NxtAR_bot{
 		Button.ENTER.waitForPress();
 		lightSensor.calibrateHigh();
 		System.out.println("--/--");
+		System.out.println("Waiting for BT\nconnection");
 
 		// Connect with a Bluetooth device in raw mode. Then get the connection
 		// streams.
@@ -97,6 +98,7 @@ public class NxtAR_bot{
 		dataOutputStream = bluetoothConnection.openDataOutputStream();
 		dataInputStream = bluetoothConnection.openDataInputStream();
 
+		System.out.println("--/--");
 		System.out.println("Connected");
 
 		// Start the networking threads and wait for them to finish. 
@@ -118,19 +120,15 @@ public class NxtAR_bot{
 	 * <p>Force quit button listener.</p>
 	 */
 	private static class QuitButtonListener implements ButtonListener{
-		/**
-		 * Force quit.
-		 */
 		@Override
 		public void buttonPressed(Button b){
+			// Force quit.
+			System.out.println("--/--");
+			System.out.println("Quitting");
 			System.exit(0);
-			//quit();
 		}
 
-		/**
-		 * Do nothing.
-		 */
 		@Override
-		public void buttonReleased(Button b){ }
+		public void buttonReleased(Button b){ /* Ignore */ }
 	}
 }
diff --git a/src/ve/ucv/ciens/ccg/nxtarbot/protocol/MotorMasks.java b/src/ve/ucv/ciens/ccg/nxtarbot/protocol/MotorMasks.java
index 505f301..2239da9 100644
--- a/src/ve/ucv/ciens/ccg/nxtarbot/protocol/MotorMasks.java
+++ b/src/ve/ucv/ciens/ccg/nxtarbot/protocol/MotorMasks.java
@@ -18,6 +18,7 @@ package ve.ucv.ciens.ccg.nxtarbot.protocol;
 /**
  * <p>Bit masks used to code/decode the control instructions sent by NxtAR-cam to
  * NxtAR-bot.</p>
+ *
  * <p>Expansions 1-3 are currently unused.</p>
  */
 public abstract class MotorMasks {
@@ -27,6 +28,6 @@ public abstract class MotorMasks {
 	public static final byte DIRECTION   = (byte)0x08;
 	public static final byte RECENTER    = (byte)0x10;
 	public static final byte EXPANSION_1 = (byte)0x20;
-	public static final byte EXPANSION_2 = (byte)0x20;
-	public static final byte EXPANSION_3 = (byte)0x20;
+	public static final byte EXPANSION_2 = (byte)0x40;
+	public static final byte EXPANSION_3 = (byte)0x80;
 }