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z%)hu^g=Q7h_|Ee$|4?NBe?SKMQ$PB<@bi~`^k40NQPBGKQ~e7{7Zf12+5 z+y9n~{{FXL8RYMxs9#dQKW*mycK^Q#|NaX5yGrGk;_6T9d7q*G6YQV*tG|N&UL*Lm zH~G_wA^&60KbG{rLj9hy|0+8CX<6?Y-@h@w|F;D3SBT$Jm|wa7pXQGBw;=wfeb>KK z0{)8l`>yX-YV@Z~;Qr@`za>h41^hi4|LX&TBlwR2|K|txdocPH-v6}kM1KqFe+%}% qkLg!z`+X(&72EzaIgClass to control the motors on the robot based on isntructions received via + *

Class to control the motors on the robot based on instructions received via * Bluetooth.

- * - *

The instructions are codified on a very simple protocol:

- *

    - *
  • Every protocol packet is exactly two bytes long.
    • - *
  • The lowest order byte codifies the motor to control and the rotation - * direction of the same on it's highest four bits. The lower four bits - * indicate that the central motor should return to it's position of - * origin. This four bits can also be used for future expansions. - *
  • The highest order byte, a number between 0 and 100, contains the - * power to send to the motor.
    • - *
*/ -public class MotorControlThread extends Thread{ +public class MotorControlThread extends Thread implements UserActionListener{ private boolean done; - private DataInputStream inputStream; + private final DataInputStream inputStream; + private final NxtARControlProtocol controlProtocol; /** * Create a new MotorControlThread. @@ -48,90 +38,59 @@ public class MotorControlThread extends Thread{ * @param inputStream The stream to receive motor commands from. * @throws NullPointerException If inputStream is null. */ - public MotorControlThread(DataInputStream inputStream) throws NullPointerException{ + public MotorControlThread(final DataInputStream inputStream) throws NullPointerException{ if(inputStream == null) throw new NullPointerException("Input stream is null."); - done = false; + this.done = false; this.inputStream = inputStream; + this.controlProtocol = new NxtARControlProtocol(this.inputStream); + this.controlProtocol.registerUserActionListener(this); } /** *

Marks this thread as ready to finish cleanly.

*/ public void finish(){ - done = true; + this.done = true; + this.controlProtocol.removeUserActionListener(this); } /** - *

Receive and process motor control instructions via Bluetooth.

+ *

Receive and process motor control instructions using the protocol library.

*/ @Override public void run(){ - boolean motorA, motorB, motorC, recenterMotorB, rotate90; - int direction, rotation, tacho; - byte[] message = new byte[2]; - while(!done){ try{ - // Read the two bytes indicated by the protocol. - message[0] = inputStream.readByte(); - message[1] = inputStream.readByte(); - - // Decode the instruction parameters. - rotate90 = (message[0] & MotorMasks.ROTATE_90) > 0 ? true : false; - recenterMotorB = (message[0] & MotorMasks.RECENTER) > 0 ? true : false; - motorA = (message[0] & MotorMasks.MOTOR_A) > 0 ? true : false; - motorB = (message[0] & MotorMasks.MOTOR_B) > 0 ? true : false; - motorC = (message[0] & MotorMasks.MOTOR_C) > 0 ? true : false; - direction = (message[0] & MotorMasks.DIRECTION) > 0 ? BasicMotorPort.FORWARD : BasicMotorPort.BACKWARD; - - if(motorA){ - // Set motor A to run at specified speed. - Motor.A.setSpeed(message[1] * Battery.getVoltage()); - if(direction == BasicMotorPort.FORWARD) - Motor.A.forward(); - else if(direction == BasicMotorPort.BACKWARD) - Motor.A.backward(); - } - - if(motorB){ - // Set motor B to run at specified speed. - Motor.B.setSpeed(message[1] * Battery.getVoltage()); - if(direction == BasicMotorPort.FORWARD) - Motor.B.forward(); - else if(direction == BasicMotorPort.BACKWARD) - Motor.B.backward(); - } - - if(motorC){ - // Set motor C to run at specified speed. - Motor.C.setSpeed(message[1] * Battery.getVoltage()); - if(direction == BasicMotorPort.FORWARD) - Motor.C.forward(); - else if(direction == BasicMotorPort.BACKWARD) - Motor.C.backward(); - } - - if(recenterMotorB){ - // Return motor B to it's origin. - System.out.println("RECENTER"); - Motor.B.setSpeed(50 * Battery.getVoltage()); - tacho = Motor.B.getTachoCount() % 360; - rotation = -(tacho); - Motor.B.rotate(rotation, false); - } - - if(rotate90){ - // Rotate 90 degrees. - System.out.println("ROTATE 90"); - Motor.B.rotate(-120, false); - } - + controlProtocol.readAndExecuteMessage(); }catch(IOException io){ // On disconnection, terminate. done = true; } } } + + @Override + public void onListenerRegistered() { + System.out.println("Registered."); + } + + @Override + public void onUserAction1(DecodedControlAction.Motor motorFlag, int speed) { + // Rotate 90 degrees. + System.out.println("USER_1 :: ROTATE 90"); + Motor.B.rotate(-120, false); + } + + @Override + public void onUserAction2(DecodedControlAction.Motor motorFlag, int speed) { } + + @Override + public void onUserAction3(DecodedControlAction.Motor motorFlag, int speed) { } + + @Override + public void onListenerRemoved() { + System.out.println("Remove."); + } }