WallyHackenslacker/NxtAR-cam
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Added forwarding of camera recenter commands.

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Wally Hackenslacker
2014-04-04 10:30:51 -04:30
parent 7160cd325e
commit cd8def574c
4 changed files with 8 additions and 6 deletions
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4
AndroidManifest.xml
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@@ -17,8 +17,8 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="ve.ucv.ciens.ccg.nxtcam"
android:versionCode="1"
android:versionName="1.0" >
android:versionCode="140404"
android:versionName="14.04.04" >
<uses-sdk
android:minSdkVersion="11"

2
src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java
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@@ -5,7 +5,7 @@ import java.io.Serializable;
public class MotorEvent implements Serializable{
private static final long serialVersionUID = 9989L;
public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC};
public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER};
private motor_t motor;
private byte power;

3
src/ve/ucv/ciens/ccg/nxtcam/network/MotorControlThread.java
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@@ -21,7 +21,6 @@ import java.io.ObjectOutputStream;
import java.net.Socket;
import ve.ucv.ciens.ccg.networkdata.MotorEvent;
import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
import ve.ucv.ciens.ccg.networkdata.MotorEventACK;
import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
@@ -64,7 +63,7 @@ public class MotorControlThread extends Thread {
if(event != null){
queue.addEvent(event);
Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor control message enqueued.");
Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor ID: " + (event.getMotor() == motor_t.MOTOR_A ? "MOTOR_A" : "MOTOR_C"));
Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor ID: " + event.getMotor().toString());
Logger.log_i(TAG, CLASS_NAME + ".run() :: Motor power: " + Byte.toString(event.getPower()));
}else{
Logger.log_i(TAG, CLASS_NAME + ".run() :: Message could not be verified;");

5
src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
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@@ -73,7 +73,10 @@ public class NxtBTCommThread extends Thread{
msg[0] |= (event.getMotor() == motor_t.MOTOR_C) ? MotorMasks.MOTOR_C : 0;
// Set the direction bit.
if(event.getPower() > 0) msg[0] |= MotorMasks.DIRECTION;
// TODO: Set the recenter bits.
// Set the recenter bits.
msg[0] |= (event.getMotor() == motor_t.RECENTER) ? MotorMasks.RECENTER : 0;
if((msg[0] & MotorMasks.RECENTER) > 0)
Logger.log_i(TAG, CLASS_NAME + ".run(): Recenter received.");
// Set the power byte.
msg[1] = (byte)Math.abs(event.getPower());