Updated MotorMasks with expansion bits.

src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java

@@ -19,7 +19,7 @@ import java.io.IOException;
 
 import ve.ucv.ciens.ccg.networkdata.MotorEvent;
 import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
-import ve.ucv.ciens.ccg.nxtcam.network.protocols.LegoCommunicationProtocol;
+import ve.ucv.ciens.ccg.nxtcam.network.protocols.MotorMasks;
 import ve.ucv.ciens.ccg.nxtcam.robotcontrol.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
 
@@ -47,6 +47,7 @@ public class LCPThread extends Thread{
 	public void run(){
 		long then, now, delta;
 		MotorEvent event;
+		byte[] msg = new byte[2];
 
 		sensorReport.start();
 		motorControl.start();
@@ -75,11 +76,17 @@ public class LCPThread extends Thread{
 				event = queue.getNextEvent();
 
 				try{
-					btComm.writeMessage(
-							LegoCommunicationProtocol.setOutputState(
-									event.getMotor() == motor_t.MOTOR_A ? LegoCommunicationProtocol.PORT_0 : (event.getMotor() == motor_t.MOTOR_B ? LegoCommunicationProtocol.PORT_1 : LegoCommunicationProtocol.PORT_2),
-											event.getPower())
-							);
+					// Set the motor bit.
+					msg[0] = (event.getMotor() == motor_t.MOTOR_A) ? MotorMasks.MOTOR_A: ((event.getMotor() == motor_t.MOTOR_B) ? MotorMasks.MOTOR_B: MotorMasks.MOTOR_C);
+					// Set the direction bit.
+					if(event.getPower() > 0) msg[0] |= MotorMasks.DIRECTION;
+					// TODO: Set the recenter bits.
+
+					// Set the power byte.
+					msg[1] = (byte)Math.abs(event.getPower());
+
+					// Send the message.
+					btComm.writeMessage(msg);
 					Logger.log_i(TAG, CLASS_NAME + ".run() :: Message sent to the robot.");
 
 					try{ sleep(40); }catch(InterruptedException ie){ }
@@ -89,7 +96,7 @@ public class LCPThread extends Thread{
 				}
 
 				if(reportSensors){
-					
+
 				}
 			}else{
 				Logger.log_e(TAG, CLASS_NAME +  ".run() :: The robot disconnected or was never available.");

src/ve/ucv/ciens/ccg/nxtcam/network/protocols/MotorMasks.java

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2014 Miguel Angel Astor Romero
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package ve.ucv.ciens.ccg.nxtcam.network.protocols;
+
+/**
+ * <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>
+ */
+public abstract class MotorMasks {
+	public static final byte MOTOR_A     = (byte)0x01;
+	public static final byte MOTOR_B     = (byte)0x02;
+	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 EXPANSION_2 = (byte)0x20;
+	public static final byte EXPANSION_3 = (byte)0x20;
+}