WallyHackenslacker/NxtAR-cam
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Updated MotorMasks with expansion bits.

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Wally Hackenslacker
2014-04-03 08:50:31 -04:30
parent 16ef871911
commit fe1710b43e
2 changed files with 46 additions and 7 deletions
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21
src/ve/ucv/ciens/ccg/nxtcam/network/LCPThread.java
View File

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

32
src/ve/ucv/ciens/ccg/nxtcam/network/protocols/MotorMasks.java Normal file
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@@ -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;
}