Merge branch 'develop'

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 */ }
 	}
 }

src/ve/ucv/ciens/ccg/nxtarbot/protocol/MotorMasks.java

@@ -18,7 +18,8 @@ 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>
+ *
+ * <p>Expansions 2-3 are currently unused.</p>
  */
 public abstract class MotorMasks {
 	public static final byte MOTOR_A     = (byte)0x01;
@@ -26,7 +27,7 @@ public abstract class MotorMasks {
 	public static final byte MOTOR_C     = (byte)0x04;
 	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 ROTATE_90   = (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;
 }

src/ve/ucv/ciens/ccg/nxtarbot/threads/MotorControlThread.java

@@ -68,7 +68,7 @@ public class MotorControlThread extends Thread{
 	 */
 	@Override
 	public void run(){
-		boolean motorA, motorB, motorC, recenterMotorB;
+		boolean motorA, motorB, motorC, recenterMotorB, rotate90;
 		int direction, rotation, tacho;
 		byte[] message = new byte[2];
 
@@ -79,6 +79,7 @@ public class MotorControlThread extends Thread{
 				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;
@@ -113,16 +114,22 @@ public class MotorControlThread extends Thread{
 				}
 
 				if(recenterMotorB){
-					System.out.println("RECENTER");
 					// 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);
+				}
+
 			}catch(IOException io){
-				// On disconnection terminate.
+				// On disconnection, terminate.
 				done = true;
 			}
 		}