WallyHackenslacker/NxtAR-cam
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Added support for automatic actions.

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Wally Hackenslacker
2014-06-23 16:08:37 -04:30
parent 7afab2de73
commit ea8f09d30c
3 changed files with 12 additions and 6 deletions
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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{ public class MotorEvent implements Serializable{
private static final long serialVersionUID = 9989L; private static final long serialVersionUID = 9989L;
public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER}; public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER, ROTATE_90};
private motor_t motor; private motor_t motor;
private byte power; private byte power;

7
src/ve/ucv/ciens/ccg/nxtcam/network/NxtBTCommThread.java
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@@ -73,11 +73,16 @@ public class NxtBTCommThread extends Thread{
msg[0] |= (event.getMotor() == motor_t.MOTOR_C) ? MotorMasks.MOTOR_C : 0; msg[0] |= (event.getMotor() == motor_t.MOTOR_C) ? MotorMasks.MOTOR_C : 0;
// Set the direction bit. // Set the direction bit.
if(event.getPower() > 0) msg[0] |= MotorMasks.DIRECTION; if(event.getPower() > 0) msg[0] |= MotorMasks.DIRECTION;
// Set the recenter bits. // Set the recenter bit.
msg[0] |= (event.getMotor() == motor_t.RECENTER) ? MotorMasks.RECENTER : 0; msg[0] |= (event.getMotor() == motor_t.RECENTER) ? MotorMasks.RECENTER : 0;
if((msg[0] & MotorMasks.RECENTER) > 0) if((msg[0] & MotorMasks.RECENTER) > 0)
Logger.log_i(TAG, CLASS_NAME + ".run(): Recenter received."); Logger.log_i(TAG, CLASS_NAME + ".run(): Recenter received.");
// Set the rotate bit.
msg[0] |= (event.getMotor() == motor_t.ROTATE_90) ? MotorMasks.ROTATE_90 : 0;
if((msg[0] & MotorMasks.ROTATE_90) > 0)
Logger.log_i(TAG, CLASS_NAME + ".run(): Rotate 90 received.");
// Set the power byte. // Set the power byte.
msg[1] = (byte)Math.abs(event.getPower()); msg[1] = (byte)Math.abs(event.getPower());

9
src/ve/ucv/ciens/ccg/nxtcam/network/protocols/MotorMasks.java
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@@ -18,7 +18,8 @@ package ve.ucv.ciens.ccg.nxtcam.network.protocols;
/** /**
* <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 2-3 are currently unused.</p>
*/ */
public abstract class MotorMasks { public abstract class MotorMasks {
public static final byte MOTOR_A = (byte)0x01; 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 MOTOR_C = (byte)0x04;
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 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;
} }