WallyHackenslacker/NxtAR-bot
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Cleaned the code a bit. Fixed the extension bit masks.

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Wally Hackenslacker
2014-06-18 12:03:32 -04:30
parent 50278109eb
commit 189e4fe378
2 changed files with 11 additions and 12 deletions
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18
src/ve/ucv/ciens/ccg/nxtarbot/NxtAR_bot.java
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@@ -40,7 +40,7 @@ public class NxtAR_bot{
private static SensorReportThread sendThread; 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> * then quits the application.</p>
*/ */
private static void quit(){ private static void quit(){
@@ -78,7 +78,7 @@ public class NxtAR_bot{
// Start the light sensor and calibrate it. // Start the light sensor and calibrate it.
LightSensor lightSensor = new LightSensor(SensorPort.S1); LightSensor lightSensor = new LightSensor(SensorPort.S1);
lightSensor.setFloodlight(false); lightSensor.setFloodlight(true);
System.out.println("Point at dark\nand press ENTER"); System.out.println("Point at dark\nand press ENTER");
Button.ENTER.waitForPress(); Button.ENTER.waitForPress();
@@ -89,6 +89,7 @@ public class NxtAR_bot{
Button.ENTER.waitForPress(); Button.ENTER.waitForPress();
lightSensor.calibrateHigh(); lightSensor.calibrateHigh();
System.out.println("--/--"); System.out.println("--/--");
System.out.println("Waiting for BT\nconnection");
// Connect with a Bluetooth device in raw mode. Then get the connection // Connect with a Bluetooth device in raw mode. Then get the connection
// streams. // streams.
@@ -97,6 +98,7 @@ public class NxtAR_bot{
dataOutputStream = bluetoothConnection.openDataOutputStream(); dataOutputStream = bluetoothConnection.openDataOutputStream();
dataInputStream = bluetoothConnection.openDataInputStream(); dataInputStream = bluetoothConnection.openDataInputStream();
System.out.println("--/--");
System.out.println("Connected"); System.out.println("Connected");
// Start the networking threads and wait for them to finish. // Start the networking threads and wait for them to finish.
@@ -118,19 +120,15 @@ public class NxtAR_bot{
* <p>Force quit button listener.</p> * <p>Force quit button listener.</p>
*/ */
private static class QuitButtonListener implements ButtonListener{ private static class QuitButtonListener implements ButtonListener{
/**
* Force quit.
*/
@Override @Override
public void buttonPressed(Button b){ public void buttonPressed(Button b){
// Force quit.
System.out.println("--/--");
System.out.println("Quitting");
System.exit(0); System.exit(0);
//quit();
} }
/**
* Do nothing.
*/
@Override @Override
public void buttonReleased(Button b){ } public void buttonReleased(Button b){ /* Ignore */ }
} }
} }

5
src/ve/ucv/ciens/ccg/nxtarbot/protocol/MotorMasks.java
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@@ -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 * <p>Bit masks used to code/decode the control instructions sent by NxtAR-cam to
* NxtAR-bot.</p> * NxtAR-bot.</p>
*
* <p>Expansions 1-3 are currently unused.</p> * <p>Expansions 1-3 are currently unused.</p>
*/ */
public abstract class MotorMasks { public abstract class MotorMasks {
@@ -27,6 +28,6 @@ public abstract class MotorMasks {
public static final byte DIRECTION = (byte)0x08; public static final byte DIRECTION = (byte)0x08;
public static final byte RECENTER = (byte)0x10; public static final byte RECENTER = (byte)0x10;
public static final byte EXPANSION_1 = (byte)0x20; public static final byte EXPANSION_1 = (byte)0x20;
public static final byte EXPANSION_2 = (byte)0x20; public static final byte EXPANSION_2 = (byte)0x40;
public static final byte EXPANSION_3 = (byte)0x20; public static final byte EXPANSION_3 = (byte)0x80;
} }