Added automatic actions. Not tested yet.

src/ve/ucv/ciens/ccg/networkdata/MotorEvent.java

@@ -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, RECENTER};
+	public enum motor_t {NONE, MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_AC, RECENTER, ROTATE_90};
 
 	private motor_t motor;
 	private byte power;

src/ve/ucv/ciens/ccg/nxtar/NxtARCore.java

@@ -15,6 +15,7 @@
  */
 package ve.ucv.ciens.ccg.nxtar;
 
+import ve.ucv.ciens.ccg.nxtar.game.GameGlobals;
 import ve.ucv.ciens.ccg.nxtar.interfaces.ActionResolver;
 import ve.ucv.ciens.ccg.nxtar.interfaces.ApplicationEventsListener;
 import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor;
@@ -22,13 +23,13 @@ import ve.ucv.ciens.ccg.nxtar.network.RobotControlThread;
 import ve.ucv.ciens.ccg.nxtar.network.SensorReportThread;
 import ve.ucv.ciens.ccg.nxtar.network.ServiceDiscoveryThread;
 import ve.ucv.ciens.ccg.nxtar.network.VideoStreamingThread;
+import ve.ucv.ciens.ccg.nxtar.states.AutomaticActionState;
 import ve.ucv.ciens.ccg.nxtar.states.BaseState;
 import ve.ucv.ciens.ccg.nxtar.states.CameraCalibrationState;
 import ve.ucv.ciens.ccg.nxtar.states.InGameState;
 import ve.ucv.ciens.ccg.nxtar.states.MainMenuStateBase;
 import ve.ucv.ciens.ccg.nxtar.states.OuyaMainMenuState;
 import ve.ucv.ciens.ccg.nxtar.states.TabletMainMenuState;
-import ve.ucv.ciens.ccg.nxtar.utils.GameSettings;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 import ve.ucv.ciens.ccg.nxtar.utils.Utils;
 import aurelienribon.tweenengine.Tween;
@@ -74,7 +75,7 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 	 * Valid game states.
 	 */
 	public enum game_states_t {
-		MAIN_MENU(0), IN_GAME(1), CALIBRATION(2);
+		MAIN_MENU(0), IN_GAME(1), CALIBRATION(2), AUTOMATIC_ACTION(3);
 
 		private int value;
 
@@ -87,7 +88,7 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 		}
 
 		public static int getNumStates(){
-			return 3;
+			return 4;
 		}
 	};
 
@@ -230,7 +231,28 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 	 * sets the application states.</p>
 	 */
 	public void create(){
-		GameSettings.initGameSettings(this);
+		try {
+			GameGlobals.initGameSettings(this);
+		} catch (IllegalArgumentException e) {
+			Gdx.app.log(TAG, CLASS_NAME + ".create(): Illegal argument initializing globals: ", e);
+			Gdx.app.exit();
+			return;
+		} catch (InstantiationException e) {
+			Gdx.app.log(TAG, CLASS_NAME + ".create(): Instantiation exception initializing globals: ", e);
+			Gdx.app.exit();
+			return;
+		} catch (IllegalAccessException e) {
+			Gdx.app.log(TAG, CLASS_NAME + ".create(): Illegal access exception initializing globals: ", e);
+			Gdx.app.exit();
+			return;
+		}
+
+		// Set up rendering fields and settings.
+		batch = new SpriteBatch();
+		batch.enableBlending();
+		batch.setBlendFunction(GL20.GL_SRC_ALPHA, GL20.GL_ONE_MINUS_SRC_ALPHA);
+		pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
+		ShaderProgram.pedantic = false;
 
 		// Create the state objects.
 		states = new BaseState[game_states_t.getNumStates()];
@@ -242,27 +264,26 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 		try{
 			states[game_states_t.IN_GAME.getValue()] = new InGameState(this);
 		}catch(IllegalStateException e){
-			Gdx.app.error(TAG, CLASS_NAME + ".create(): Illegal state: " + e.getMessage());
+			Gdx.app.error(TAG, CLASS_NAME + ".create(): Illegal state in IN_GAME_STATE: " + e.getMessage());
 			Gdx.app.exit();
 			return;
 		}
 
 		states[game_states_t.CALIBRATION.getValue()] = new CameraCalibrationState(this);
 
+		try{
+			states[game_states_t.AUTOMATIC_ACTION.getValue()] = new AutomaticActionState(this);
+		}catch(IllegalStateException e){
+			Gdx.app.error(TAG, CLASS_NAME + ".create(): Illegal state in AUTOMATIC_ACTION_STATE: " + e.getMessage());
+			Gdx.app.exit();
+			return;
+		}
+
 		// Register controller listeners.
 		for(BaseState state : states){
 			Controllers.addListener(state);
 		}
 
-		// Set up rendering fields and settings.
-		batch = new SpriteBatch();
-		batch.enableBlending();
-		batch.setBlendFunction(GL20.GL_SRC_ALPHA, GL20.GL_ONE_MINUS_SRC_ALPHA);
-
-		pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
-
-		ShaderProgram.pedantic = false;
-
 		// Set up the overlay font.
 		overlayX = -(Utils.getScreenWidth() / 2) + 10;
 		overlayY = (Utils.getScreenHeight() / 2) - 10;
@@ -336,8 +357,8 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 		super.render();
 
 		// Load the assets.
-		if(!GameSettings.getEntityCreator().areEntitiesCreated())
+		if(!GameGlobals.getEntityCreator().areEntitiesCreated())
-			GameSettings.getEntityCreator().updateAssetManager();
+			GameGlobals.getEntityCreator().updateAssetManager();
 
 		// If the current state set a value for nextState then switch to that state.
 		if(nextState != null){
@@ -452,7 +473,7 @@ public class NxtARCore extends Game implements ApplicationEventsListener{
 		batch.dispose();
 		font.dispose();
 
-		GameSettings.clearGameSettings();
+		GameGlobals.clearGameSettings();
 	}
 
 	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

src/ve/ucv/ciens/ccg/nxtar/entities/MarkerTestEntityCreator.java

@@ -1,140 +0,0 @@
-/*
- * 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.nxtar.entities;
-
-import ve.ucv.ciens.ccg.nxtar.components.AnimationComponent;
-import ve.ucv.ciens.ccg.nxtar.components.EnvironmentComponent;
-import ve.ucv.ciens.ccg.nxtar.components.GeometryComponent;
-import ve.ucv.ciens.ccg.nxtar.components.MarkerCodeComponent;
-import ve.ucv.ciens.ccg.nxtar.components.RenderModelComponent;
-import ve.ucv.ciens.ccg.nxtar.components.ShaderComponent;
-import ve.ucv.ciens.ccg.nxtar.graphics.shaders.DirectionalLightPerPixelShader;
-
-import com.artemis.Entity;
-import com.badlogic.gdx.Gdx;
-import com.badlogic.gdx.graphics.Color;
-import com.badlogic.gdx.graphics.VertexAttribute;
-import com.badlogic.gdx.graphics.VertexAttributes;
-import com.badlogic.gdx.graphics.VertexAttributes.Usage;
-import com.badlogic.gdx.graphics.g3d.Environment;
-import com.badlogic.gdx.graphics.g3d.Material;
-import com.badlogic.gdx.graphics.g3d.Model;
-import com.badlogic.gdx.graphics.g3d.attributes.ColorAttribute;
-import com.badlogic.gdx.graphics.g3d.attributes.FloatAttribute;
-import com.badlogic.gdx.graphics.g3d.environment.DirectionalLight;
-import com.badlogic.gdx.graphics.g3d.loader.G3dModelLoader;
-import com.badlogic.gdx.graphics.g3d.utils.ModelBuilder;
-import com.badlogic.gdx.math.Matrix3;
-import com.badlogic.gdx.math.Vector3;
-import com.badlogic.gdx.utils.JsonReader;
-
-public class MarkerTestEntityCreator extends EntityCreatorBase {
-	private static final String TAG = "MARKER_TEST_ENTITY_CREATOR";
-	private static final String CLASS_NAME = MarkerTestEntityCreator.class.getSimpleName();
-
-	private Model bombModel;
-	private Model animatedModel;
-	private Model boxModel;
-	private DirectionalLightPerPixelShader ppShader;
-
-	@Override
-	protected void createAllEntities() {
-		ModelBuilder builder;
-		Entity bomb, box, anim;
-		G3dModelLoader loader;
-		Environment environment;
-		Material material;
-
-		// Create mesh.
-		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the meshes.");
-
-		loader = new G3dModelLoader(new JsonReader());
-
-		bombModel = loader.loadModel(Gdx.files.internal("models/Bomb_test_2.g3dj"));
-		animatedModel = loader.loadModel(Gdx.files.internal("models/cube.g3dj"));
-
-		material = new Material(new FloatAttribute(FloatAttribute.Shininess, 50.0f), new ColorAttribute(ColorAttribute.Diffuse, 1.0f, 1.0f, 1.0f, 1.0f), new ColorAttribute(ColorAttribute.Specular, 1.0f, 1.0f, 1.0f, 1.0f));
-
-		builder = new ModelBuilder();
-		boxModel = builder.createBox(0.5f, 0.5f, 6.0f, material, new VertexAttributes(new VertexAttribute(Usage.Position, 3, "a_position"), new VertexAttribute(Usage.Normal, 3, "a_normal"), new VertexAttribute(Usage.Color, 4, "a_color")).getMask());
-
-		// Load the shader.
-		ppShader = new DirectionalLightPerPixelShader();
-		ppShader.init();
-
-		environment = new Environment();
-		environment.set(new ColorAttribute(ColorAttribute.AmbientLight, 0.3f, 0.3f, 0.3f, 1.0f));
-		environment.add(new DirectionalLight().set(new Color(1, 1, 1, 1), new Vector3(1, 0, -0.5f)));
-
-		// Create the entities.
-		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the enitites.");
-		bomb = world.createEntity();
-		bomb.addComponent(new GeometryComponent(new Vector3(0.0f, 0.0f, 0.0f), new Matrix3().idt(), new Vector3(1.0f, 1.0f, 1.0f)));
-		bomb.addComponent(new RenderModelComponent(bombModel));
-		bomb.addComponent(new EnvironmentComponent(environment));
-		bomb.addComponent(new ShaderComponent(ppShader));
-		bomb.addComponent(new MarkerCodeComponent(1023));
-
-		anim = world.createEntity();
-		anim.addComponent(new GeometryComponent(new Vector3(0.0f, 0.0f, 0.0f), new Matrix3().idt(), new Vector3(0.25f, 0.25f, -0.25f)));
-		anim.addComponent(new RenderModelComponent(animatedModel));
-		anim.addComponent(new AnimationComponent(anim.getComponent(RenderModelComponent.class).instance, 0, true));
-		anim.addComponent(new EnvironmentComponent(environment));
-		anim.addComponent(new MarkerCodeComponent(89));
-		anim.addComponent(new ShaderComponent(ppShader));
-
-		box = world.createEntity();
-		box.addComponent(new GeometryComponent(new Vector3(-1.0f, 0.0f, 0.0f), new Matrix3().idt(), new Vector3(1.0f, 1.0f, 1.0f)));
-		box.addComponent(new RenderModelComponent(boxModel));
-		box.addComponent(new ShaderComponent(ppShader));
-		box.addComponent(new EnvironmentComponent(environment));
-
-		// Add the entities to the world.
-		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Adding entities to the world.");
-		//sphere.addToWorld();
-		bomb.addToWorld();
-		anim.addToWorld();
-		box.addToWorld();
-
-		entitiesCreated = true;
-	}
-
-	@Override
-	public void dispose() {
-		if(boxModel != null)
-			boxModel.dispose();
-
-		if(animatedModel != null)
-			animatedModel.dispose();
-
-		if(bombModel != null)
-			bombModel.dispose();
-
-		if(ppShader != null)
-			ppShader.dispose();
-	}
-
-	@Override
-	public boolean updateAssetManager(){
-		createAllEntities();
-		if(core != null) core.onAssetsLoaded();
-
-		return true;
-	}
-
-	@Override
-	public void resetAllEntities() { }
-}

src/ve/ucv/ciens/ccg/nxtar/game/AutomaticActionPerformerBase.java

@@ -0,0 +1,39 @@
+/*
+ * 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.nxtar.game;
+
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
+
+public abstract class AutomaticActionPerformerBase {
+	public enum automatic_action_t{
+		NO_ACTION,
+		GO_FORWARD,
+		GO_BACKWARDS,
+		STOP,
+		TURN_LEFT,
+		TURN_RIGHT,
+		BACKWARDS_LEFT,
+		BACKWARDS_RIGHT,
+		ROTATE_90,
+		RECENTER,
+		LOOK_RIGHT,
+		LOOK_LEFT,
+		STOP_LOOKING;
+	}
+
+	public abstract boolean performAutomaticAction(int lightSensorReading, MarkerData markers);
+	public abstract automatic_action_t getNextAction();
+}

src/ve/ucv/ciens/ccg/nxtar/game/GameGlobals.java

@@ -13,13 +13,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.utils;
+package ve.ucv.ciens.ccg.nxtar.game;
 
 import ve.ucv.ciens.ccg.nxtar.NxtARCore;
-import ve.ucv.ciens.ccg.nxtar.entities.BombGameEntityCreator;
 import ve.ucv.ciens.ccg.nxtar.entities.EntityCreatorBase;
 import ve.ucv.ciens.ccg.nxtar.systems.AnimationSystem;
-import ve.ucv.ciens.ccg.nxtar.systems.BombGameLogicSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.CollisionDetectionSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.FadeEffectRenderingSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.GameLogicSystemBase;
@@ -37,13 +35,14 @@ import com.badlogic.gdx.controllers.mappings.Ouya;
 import com.badlogic.gdx.graphics.g3d.ModelBatch;
 import com.badlogic.gdx.utils.Disposable;
 
-public abstract class GameSettings{
+public abstract class GameGlobals{
-	private static EntityCreatorBase   entityCreator   = null;
+	private static EntityCreatorBase            entityCreator            = null;
-	private static GameLogicSystemBase gameLogicSystem = null;
+	private static GameLogicSystemBase          gameLogicSystem          = null;
-	private static World               gameWorld       = null;
+	private static World                        gameWorld                = null;
-	private static ModelBatch          modelBatch      = null;
+	private static ModelBatch                   modelBatch               = null;
+	private static AutomaticActionPerformerBase automaticActionPerformer = null;
 
-	public static void initGameSettings(NxtARCore core) throws IllegalArgumentException{
+	public static void initGameSettings(NxtARCore core) throws IllegalArgumentException, InstantiationException, IllegalAccessException{
 		if(core == null)
 			throw new IllegalArgumentException("Core is null.");
 
@@ -56,13 +55,42 @@ public abstract class GameSettings{
 		}
 
 		if(getEntityCreator() == null){
-			entityCreator = new BombGameEntityCreator();
+			try {
+				entityCreator = (EntityCreatorBase) ScenarioImplementation.entityCreatorClass.newInstance();
+			} catch (InstantiationException e) {
+				System.out.println("Error instantiating entity creator.");
+				throw e;
+			} catch (IllegalAccessException e) {
+				System.out.println("Error accessing entity creator.");
+				throw e;
+			}
 			entityCreator.setWorld(gameWorld);
 			entityCreator.setCore(core);
 		}
 
-		if(getGameLogicSystem() == null)
+		if(getGameLogicSystem() == null){
-			gameLogicSystem = new BombGameLogicSystem();
+			try {
+				gameLogicSystem = (GameLogicSystemBase) ScenarioImplementation.gameLogicSystemClass.newInstance();
+			} catch (InstantiationException e) {
+				System.out.println("Error instantiating game logic system.");
+				throw e;
+			} catch (IllegalAccessException e) {
+				System.out.println("Error accessing game logic system.");
+				throw e;
+			}
+		}
+
+		if(automaticActionPerformer == null){
+			try {
+				automaticActionPerformer = (AutomaticActionPerformerBase) ScenarioImplementation.automaticActionPerformerClass.newInstance();
+			} catch (InstantiationException e) {
+				System.out.println("Error instantiating automatic action performer.");
+				throw e;
+			} catch (IllegalAccessException e) {
+				System.out.println("Error accessing automatic action performer.");
+				throw e;
+			}
+		}
 
 		gameWorld.setSystem(new MarkerPositioningSystem());
 		gameWorld.setSystem(new RobotArmPositioningSystem(), Ouya.runningOnOuya);
@@ -70,6 +98,7 @@ public abstract class GameSettings{
 		gameWorld.setSystem(new AnimationSystem());
 		gameWorld.setSystem(new CollisionDetectionSystem());
 		gameWorld.setSystem(gameLogicSystem);
+		// TODO: Add player processing system.
 		gameWorld.setSystem(new MarkerRenderingSystem(modelBatch), true);
 		gameWorld.setSystem(new ObjectRenderingSystem(modelBatch), true);
 		gameWorld.setSystem(new FadeEffectRenderingSystem(), true);
@@ -113,4 +142,11 @@ public abstract class GameSettings{
 	public static World getGameWorld() {
 		return gameWorld;
 	}
+
+	/**
+	 * @return the automaticActionPerformer
+	 */
+	public static AutomaticActionPerformerBase getAutomaticActionPerformer() {
+		return automaticActionPerformer;
+	}
 }

src/ve/ucv/ciens/ccg/nxtar/game/ScenarioImplementation.java

@@ -0,0 +1,29 @@
+/*
+ * 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.nxtar.game;
+
+import ve.ucv.ciens.ccg.nxtar.game.bombgame.BombGameAutomaticActionPerformer;
+import ve.ucv.ciens.ccg.nxtar.game.bombgame.BombGameEntityCreator;
+import ve.ucv.ciens.ccg.nxtar.game.bombgame.BombGameLogicSystem;
+
+@SuppressWarnings("rawtypes")
+public final class ScenarioImplementation{
+	public static Class gameLogicSystemClass          = BombGameLogicSystem.class;
+	public static Class entityCreatorClass            = BombGameEntityCreator.class;
+	public static Class automaticActionPerformerClass = BombGameAutomaticActionPerformer.class;
+
+	private ScenarioImplementation(){}
+}

src/ve/ucv/ciens/ccg/nxtar/game/bombgame/BombComponent.java

@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.components;
+package ve.ucv.ciens.ccg.nxtar.game.bombgame;
 
 import com.artemis.Component;
 

src/ve/ucv/ciens/ccg/nxtar/game/bombgame/BombGameAutomaticActionPerformer.java

@@ -0,0 +1,154 @@
+/*
+ * 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.nxtar.game.bombgame;
+
+import java.util.LinkedList;
+import java.util.List;
+
+import com.badlogic.gdx.Gdx;
+
+import ve.ucv.ciens.ccg.nxtar.game.AutomaticActionPerformerBase;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+public class BombGameAutomaticActionPerformer extends AutomaticActionPerformerBase {
+	private static final int GOAL_FLOOR_MIN_LUMINANCE = 85;
+	private static final int MARKER_NEARBY_FLOOR_MIN_LUMINANCE = 45;
+
+	private enum action_state_t{
+		START, WALK_FORWARD, DETECT_MARKER, FINISHING, END;
+	}
+
+	private automatic_action_t nextAction;
+	private action_state_t     state;
+	private List<Integer>      detectedMarkers;
+	private float              then;
+
+	public BombGameAutomaticActionPerformer(){
+		nextAction      = automatic_action_t.NO_ACTION;
+		state           = action_state_t.START;
+		detectedMarkers = new LinkedList<Integer>();
+		then            = 0.0f;
+	}
+
+	@Override
+	public boolean performAutomaticAction(int lightSensorReading, MarkerData markers) throws IllegalStateException, IllegalArgumentException{
+		boolean finish       = false;
+		int     detectedCode = -1;
+		float   now, deltaT;
+
+		if(markers == null)
+			throw new IllegalArgumentException("Markers is null");
+
+		switch(state){
+		case START:
+			nextAction = automatic_action_t.ROTATE_90;
+			state = action_state_t.WALK_FORWARD;
+			finish = false;
+			break;
+
+		case WALK_FORWARD:
+			if(lightSensorReading >= GOAL_FLOOR_MIN_LUMINANCE){
+				nextAction = automatic_action_t.STOP;
+				state = action_state_t.END;
+			}else{
+				if(lightSensorReading >= MARKER_NEARBY_FLOOR_MIN_LUMINANCE && lightSensorReading < GOAL_FLOOR_MIN_LUMINANCE){
+					nextAction = automatic_action_t.STOP;
+					state = action_state_t.DETECT_MARKER;
+					then = Gdx.graphics.getDeltaTime();
+				}else{
+					nextAction = automatic_action_t.GO_FORWARD;
+				}
+			}
+			finish = false;
+			break;
+
+		case DETECT_MARKER:
+			for(int i = 0; i < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS; i++){
+				// Check if this marker has not been detected already.
+				for(Integer code : detectedMarkers){
+					if(markers.markerCodes[i] == code){
+						i = ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS;
+						break;
+					}
+				}
+
+				// If the marker has not been detected before then examine it.
+				if(i < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS){
+					detectedCode = markers.markerCodes[i];
+					// TODO: If marker is a bomb then add it to the summary.
+				}
+			}
+
+			if(detectedCode == -1)
+				detectedMarkers.add(detectedCode);
+
+			if(lightSensorReading < MARKER_NEARBY_FLOOR_MIN_LUMINANCE){
+				state      = action_state_t.WALK_FORWARD;
+				nextAction = automatic_action_t.STOP;
+				then       = 0.0f;
+			}else{
+				now    = Gdx.graphics.getDeltaTime();
+				deltaT = now - then;
+				if(deltaT >= 2.0f){
+					nextAction = automatic_action_t.GO_FORWARD;
+					then = Gdx.graphics.getDeltaTime();
+				}
+			}
+
+			finish = false;
+
+			break;
+
+		case FINISHING:
+			detectedMarkers.clear();
+			state = action_state_t.END;
+			nextAction = automatic_action_t.RECENTER;
+			finish = false;
+			break;
+
+		case END:
+			state = action_state_t.START;
+			nextAction = automatic_action_t.NO_ACTION;
+			finish = true;
+			break;
+
+		default:
+			throw new IllegalStateException("Unknown automatic action state.");
+		}
+
+		return finish;
+	}
+
+	@Override
+	public automatic_action_t getNextAction() {
+		switch(nextAction){
+		default:
+		case NO_ACTION:
+			return automatic_action_t.NO_ACTION;
+		case GO_BACKWARDS:
+			return automatic_action_t.GO_BACKWARDS;
+		case GO_FORWARD:
+			return automatic_action_t.GO_FORWARD;
+		case STOP:
+			return automatic_action_t.STOP;
+		case ROTATE_90:
+			return automatic_action_t.ROTATE_90;
+		case RECENTER:
+			return automatic_action_t.RECENTER;
+		}
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/game/bombgame/BombGameEntityCreator.java

@@ -13,17 +13,13 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.entities;
+package ve.ucv.ciens.ccg.nxtar.game.bombgame;
 
 import java.util.LinkedList;
 import java.util.List;
 
 import ve.ucv.ciens.ccg.nxtar.components.AnimationComponent;
 import ve.ucv.ciens.ccg.nxtar.components.AutomaticMovementComponent;
-import ve.ucv.ciens.ccg.nxtar.components.BombComponent;
-import ve.ucv.ciens.ccg.nxtar.components.BombComponent.bomb_type_t;
-import ve.ucv.ciens.ccg.nxtar.components.BombGameObjectTypeComponent;
-import ve.ucv.ciens.ccg.nxtar.components.BombGamePlayerComponent;
 import ve.ucv.ciens.ccg.nxtar.components.CollisionDetectionComponent;
 import ve.ucv.ciens.ccg.nxtar.components.CollisionModelComponent;
 import ve.ucv.ciens.ccg.nxtar.components.EnvironmentComponent;
@@ -33,6 +29,8 @@ import ve.ucv.ciens.ccg.nxtar.components.PlayerComponentBase;
 import ve.ucv.ciens.ccg.nxtar.components.RenderModelComponent;
 import ve.ucv.ciens.ccg.nxtar.components.ShaderComponent;
 import ve.ucv.ciens.ccg.nxtar.components.VisibilityComponent;
+import ve.ucv.ciens.ccg.nxtar.entities.EntityCreatorBase;
+import ve.ucv.ciens.ccg.nxtar.game.bombgame.BombComponent.bomb_type_t;
 import ve.ucv.ciens.ccg.nxtar.graphics.shaders.DirectionalLightPerPixelShader;
 import ve.ucv.ciens.ccg.nxtar.systems.AnimationSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.CollisionDetectionSystem;

src/ve/ucv/ciens/ccg/nxtar/game/bombgame/BombGameLogicSystem.java

@@ -13,17 +13,16 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.systems;
+package ve.ucv.ciens.ccg.nxtar.game.bombgame;
 
 import ve.ucv.ciens.ccg.nxtar.components.AnimationComponent;
-import ve.ucv.ciens.ccg.nxtar.components.BombGameObjectTypeComponent;
-import ve.ucv.ciens.ccg.nxtar.components.BombGamePlayerComponent;
 import ve.ucv.ciens.ccg.nxtar.components.CollisionDetectionComponent;
 import ve.ucv.ciens.ccg.nxtar.components.FadeEffectComponent;
 import ve.ucv.ciens.ccg.nxtar.components.MarkerCodeComponent;
 import ve.ucv.ciens.ccg.nxtar.components.PlayerComponentBase;
 import ve.ucv.ciens.ccg.nxtar.components.VisibilityComponent;
-import ve.ucv.ciens.ccg.nxtar.entities.BombGameEntityCreator;
+import ve.ucv.ciens.ccg.nxtar.systems.CollisionDetectionSystem;
+import ve.ucv.ciens.ccg.nxtar.systems.GameLogicSystemBase;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 import ve.ucv.ciens.ccg.nxtar.utils.Utils;
 

src/ve/ucv/ciens/ccg/nxtar/game/bombgame/BombGameObjectTypeComponent.java

@@ -13,7 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.components;
+package ve.ucv.ciens.ccg.nxtar.game.bombgame;
 
 import com.artemis.Component;
 

src/ve/ucv/ciens/ccg/nxtar/game/bombgame/BombGamePlayerComponent.java

@@ -13,7 +13,9 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.components;
+package ve.ucv.ciens.ccg.nxtar.game.bombgame;
+
+import ve.ucv.ciens.ccg.nxtar.components.PlayerComponentBase;
 
 public class BombGamePlayerComponent extends PlayerComponentBase {
 	public static final int MIN_LIVES = 1;

src/ve/ucv/ciens/ccg/nxtar/game/bombgame/BombGamePlayerSystem.java

@@ -13,11 +13,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-package ve.ucv.ciens.ccg.nxtar.systems;
+package ve.ucv.ciens.ccg.nxtar.game.bombgame;
 
 import ve.ucv.ciens.ccg.nxtar.NxtARCore;
-import ve.ucv.ciens.ccg.nxtar.components.BombGamePlayerComponent;
+import ve.ucv.ciens.ccg.nxtar.systems.PlayerSystemBase;
-import ve.ucv.ciens.ccg.nxtar.entities.BombGameEntityCreator;
 import ve.ucv.ciens.ccg.nxtar.utils.Utils;
 
 import com.artemis.ComponentMapper;

src/ve/ucv/ciens/ccg/nxtar/states/AutomaticActionState.java

@@ -15,20 +15,20 @@
  */
 package ve.ucv.ciens.ccg.nxtar.states;
 
+import ve.ucv.ciens.ccg.networkdata.MotorEvent;
+import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
 import ve.ucv.ciens.ccg.nxtar.NxtARCore;
 import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
+import ve.ucv.ciens.ccg.nxtar.game.AutomaticActionPerformerBase;
+import ve.ucv.ciens.ccg.nxtar.game.GameGlobals;
+import ve.ucv.ciens.ccg.nxtar.game.AutomaticActionPerformerBase.automatic_action_t;
 import ve.ucv.ciens.ccg.nxtar.graphics.CustomPerspectiveCamera;
 import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
+import ve.ucv.ciens.ccg.nxtar.network.SensorReportThread;
+import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
-import ve.ucv.ciens.ccg.nxtar.systems.AnimationSystem;
-import ve.ucv.ciens.ccg.nxtar.systems.CollisionDetectionSystem;
-import ve.ucv.ciens.ccg.nxtar.systems.FadeEffectRenderingSystem;
-import ve.ucv.ciens.ccg.nxtar.systems.GeometrySystem;
 import ve.ucv.ciens.ccg.nxtar.systems.MarkerPositioningSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.MarkerRenderingSystem;
-import ve.ucv.ciens.ccg.nxtar.systems.ObjectRenderingSystem;
-import ve.ucv.ciens.ccg.nxtar.systems.RobotArmPositioningSystem;
-import ve.ucv.ciens.ccg.nxtar.utils.GameSettings;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 import ve.ucv.ciens.ccg.nxtar.utils.Utils;
 
@@ -37,6 +37,7 @@ import com.badlogic.gdx.Gdx;
 import com.badlogic.gdx.Input;
 import com.badlogic.gdx.controllers.Controller;
 import com.badlogic.gdx.controllers.mappings.Ouya;
+import com.badlogic.gdx.graphics.Color;
 import com.badlogic.gdx.graphics.GL20;
 import com.badlogic.gdx.graphics.OrthographicCamera;
 import com.badlogic.gdx.graphics.Pixmap;
@@ -44,16 +45,24 @@ import com.badlogic.gdx.graphics.Pixmap.Format;
 import com.badlogic.gdx.graphics.Texture;
 import com.badlogic.gdx.graphics.Texture.TextureFilter;
 import com.badlogic.gdx.graphics.Texture.TextureWrap;
+import com.badlogic.gdx.graphics.g2d.BitmapFont;
+import com.badlogic.gdx.graphics.g2d.NinePatch;
 import com.badlogic.gdx.graphics.g2d.Sprite;
 import com.badlogic.gdx.graphics.g2d.TextureRegion;
+import com.badlogic.gdx.graphics.g2d.freetype.FreeTypeFontGenerator;
+import com.badlogic.gdx.graphics.g2d.freetype.FreeTypeFontGenerator.FreeTypeFontParameter;
 import com.badlogic.gdx.graphics.g3d.ModelBatch;
 import com.badlogic.gdx.graphics.glutils.FrameBuffer;
 import com.badlogic.gdx.graphics.glutils.ShaderProgram;
+import com.badlogic.gdx.math.Rectangle;
 import com.badlogic.gdx.math.Vector2;
 import com.badlogic.gdx.math.Vector3;
+import com.badlogic.gdx.scenes.scene2d.ui.TextButton;
+import com.badlogic.gdx.scenes.scene2d.ui.TextButton.TextButtonStyle;
+import com.badlogic.gdx.scenes.scene2d.utils.NinePatchDrawable;
 
 public class AutomaticActionState extends BaseState{
-	private static final String  TAG                    = "IN_GAME_STATE";
+	private static final String  TAG                    = "AUTOMATIC_STATE";
 	private static final String  CLASS_NAME             = AutomaticActionState.class.getSimpleName();
 	private static final String  BACKGROUND_SHADER_PATH = "shaders/bckg/bckg";
 	private static final float   NEAR                   = 0.01f;
@@ -73,9 +82,9 @@ public class AutomaticActionState extends BaseState{
 	// Game related fields.
 	private World                           gameWorld;
 	private MarkerRenderingSystem           markerRenderingSystem;
-	private ObjectRenderingSystem           objectRenderingSystem;
+	private boolean                         ignoreBackKey;
-	private RobotArmPositioningSystem       robotArmPositioningSystem;
+	private boolean                         automaticActionEnabled;
-	private FadeEffectRenderingSystem       fadeEffectRenderingSystem;
+	private AutomaticActionPerformerBase    automaticActionPerformer;
 
 	// Cameras.
 	private OrthographicCamera              unitaryOrthographicCamera;
@@ -87,6 +96,22 @@ public class AutomaticActionState extends BaseState{
 	private Sprite                          renderableVideoFrame;
 	private Pixmap                          videoFrame;
 
+	// Gui elements.
+	private Texture                         startButtonEnabledTexture;
+	private Texture                         startButtonDisabledTexture;
+	private Texture                         startButtonPressedTexture;
+	private NinePatch                       startButtonEnabled9p;
+	private NinePatch                       startButtonDisabled9p;
+	private NinePatch                       startButtonPressed9p;
+	private BitmapFont                      font;
+	private TextButton                      startButton;
+	private Rectangle                       startButtonBBox;
+	private boolean                         startButtonPressed;
+	private Texture                         ouyaOButtonTexture;
+	private Sprite                          ouyaOButton;
+	private boolean                         oButtonPressed;
+	private boolean                         aButtonPressed;
+
 	// Button touch helper fields.
 	private boolean[]                       buttonsTouched;
 	private int[]                           buttonPointers;
@@ -94,17 +119,23 @@ public class AutomaticActionState extends BaseState{
 
 	// Monitors.
 	private VideoFrameMonitor               frameMonitor;
-	//	private MotorEventQueue                 queue;
+	private MotorEventQueue                 queue;
-	//	private SensorReportThread              sensorThread;
+	private SensorReportThread              sensorThread;
 
-	public AutomaticActionState(final NxtARCore core){
+	public AutomaticActionState(final NxtARCore core) throws IllegalStateException, IllegalArgumentException{
-		this.core = core;
+		if(core == null)
-		frameMonitor = VideoFrameMonitor.getInstance();
+			throw new IllegalArgumentException(CLASS_NAME + ": Core is null.");
-		//		queue = MotorEventQueue.getInstance();
-		//		sensorThread = SensorReportThread.getInstance();
 
-		// Set up rendering fields;
+		this.core                = core;
-		videoFrame = null;
+		frameMonitor             = VideoFrameMonitor.getInstance();
+		queue                    = MotorEventQueue.getInstance();
+		sensorThread             = SensorReportThread.getInstance();
+		ignoreBackKey            = false;
+		videoFrame               = null;
+		aButtonPressed           = false;
+		automaticActionEnabled   = false;
+		startButtonPressed       = false;
+		automaticActionPerformer = GameGlobals.getAutomaticActionPerformer();
 
 		// Set up the cameras.
 		pixelPerfectOrthographicCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
@@ -149,25 +180,15 @@ public class AutomaticActionState extends BaseState{
 		perspectiveCamera = null;
 		frameBufferSprite = null;
 
+		// Create the gui.
+		setUpButton();
+
 		// Set up the game world.
-		gameWorld = GameSettings.getGameWorld();
+		gameWorld = GameGlobals.getGameWorld();
+		markerRenderingSystem = gameWorld.getSystem(MarkerRenderingSystem.class);
 
-		robotArmPositioningSystem = new RobotArmPositioningSystem();
+		if(markerRenderingSystem == null)
-		markerRenderingSystem     = new MarkerRenderingSystem(modelBatch);
+			throw new IllegalStateException(CLASS_NAME + ": Essential marker rendering system is null.");
-		objectRenderingSystem     = new ObjectRenderingSystem(modelBatch);
-		fadeEffectRenderingSystem = new FadeEffectRenderingSystem();
-
-		gameWorld.setSystem(new MarkerPositioningSystem());
-		gameWorld.setSystem(robotArmPositioningSystem, Ouya.runningOnOuya);
-		gameWorld.setSystem(new GeometrySystem());
-		gameWorld.setSystem(new AnimationSystem());
-		gameWorld.setSystem(new CollisionDetectionSystem());
-		gameWorld.setSystem(GameSettings.getGameLogicSystem());
-		gameWorld.setSystem(markerRenderingSystem, true);
-		gameWorld.setSystem(objectRenderingSystem, true);
-		gameWorld.setSystem(fadeEffectRenderingSystem, true);
-
-		gameWorld.initialize();
 	}
 
 	/*;;;;;;;;;;;;;;;;;;;;;;
@@ -220,6 +241,9 @@ public class AutomaticActionState extends BaseState{
 
 		// If a valid frame was fetched.
 		if(data != null && data.outFrame != null){
+			if(automaticActionEnabled)
+				performAutomaticAction(data);
+
 			// Set the camera to the correct projection.
 			focalPointX   = core.cvProc.getFocalPointX();
 			focalPointY   = core.cvProc.getFocalPointY();
@@ -308,11 +332,35 @@ public class AutomaticActionState extends BaseState{
 			videoFrameTexture.dispose();
 		}
 
+		core.batch.setProjectionMatrix(pixelPerfectOrthographicCamera.combined);
+		core.batch.begin();{
+			startButton.draw(core.batch, 1.0f);
+			if(Ouya.runningOnOuya)
+				ouyaOButton.draw(core.batch);
+		}core.batch.end();
+
 		data = null;
 	}
 
 	@Override
 	public void dispose(){
+		SensorReportThread.freeInstance();
+
+		if(font != null)
+			font.dispose();
+
+		if(ouyaOButtonTexture != null)
+			ouyaOButtonTexture.dispose();
+
+		if(startButtonEnabledTexture != null)
+			startButtonEnabledTexture.dispose();
+
+		if(startButtonDisabledTexture != null)
+			startButtonDisabledTexture.dispose();
+
+		if(startButtonPressedTexture != null)
+			startButtonPressedTexture.dispose();
+
 		if(modelBatch != null)
 			modelBatch.dispose();
 
@@ -327,14 +375,8 @@ public class AutomaticActionState extends BaseState{
 
 		if(frameBuffer != null)
 			frameBuffer.dispose();
-
-		fadeEffectRenderingSystem.dispose();
 	}
 
-	/*;;;;;;;;;;;;;;;;;;
-	  ; HELPER METHODS ;
-	  ;;;;;;;;;;;;;;;;;;*/
-
 	@Override
 	public void onStateSet(){
 		stateActive = true;
@@ -351,6 +393,188 @@ public class AutomaticActionState extends BaseState{
 		Gdx.input.setCatchMenuKey(false);
 	}
 
+	/*;;;;;;;;;;;;;;;;;;
+	  ; HELPER METHODS ;
+	  ;;;;;;;;;;;;;;;;;;*/
+
+	private void setUpButton(){
+		TextButtonStyle       textButtonStyle;
+		FreeTypeFontGenerator fontGenerator;
+		FreeTypeFontParameter fontParameters;
+
+		// Create the start button background.
+		startButtonEnabledTexture  = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Yellow.png"));
+		startButtonEnabled9p       = new NinePatch(new TextureRegion(startButtonEnabledTexture, 0, 0, startButtonEnabledTexture.getWidth(), startButtonEnabledTexture.getHeight()), 49, 49, 45, 45);
+		startButtonDisabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Cyan.png"));
+		startButtonDisabled9p      = new NinePatch(new TextureRegion(startButtonDisabledTexture, 0, 0, startButtonDisabledTexture.getWidth(), startButtonDisabledTexture.getHeight()), 49, 49, 45, 45);
+		startButtonPressedTexture  = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Blue.png"));
+		startButtonPressed9p       = new NinePatch(new TextureRegion(startButtonPressedTexture, 0, 0, startButtonPressedTexture.getWidth(), startButtonPressedTexture.getHeight()), 49, 49, 45, 45);
+
+		// Create the start button font.
+		fontParameters            = new FreeTypeFontParameter();
+		fontParameters.characters = ProjectConstants.FONT_CHARS;
+		fontParameters.size       = ProjectConstants.MENU_BUTTON_FONT_SIZE;
+		fontParameters.flip       = false;
+		fontGenerator             = new FreeTypeFontGenerator(Gdx.files.internal("data/fonts/d-puntillas-B-to-tiptoe.ttf"));
+		font                      = fontGenerator.generateFont(fontParameters);
+		fontGenerator.dispose();
+
+		// Create the start button.
+		textButtonStyle                   = new TextButtonStyle();
+		textButtonStyle.font              = font;
+		textButtonStyle.up                = new NinePatchDrawable(startButtonEnabled9p);
+		textButtonStyle.checked           = new NinePatchDrawable(startButtonPressed9p);
+		textButtonStyle.disabled          = new NinePatchDrawable(startButtonDisabled9p);
+		textButtonStyle.fontColor         = new Color(Color.BLACK);
+		textButtonStyle.downFontColor     = new Color(Color.WHITE);
+		textButtonStyle.disabledFontColor = new Color(Color.BLACK);
+
+		startButton = new TextButton("Start automatic action", textButtonStyle);
+		startButton.setText("Start automatic action");
+		startButton.setDisabled(false);
+		startButtonBBox = new Rectangle(0, 0, startButton.getWidth(), startButton.getHeight());
+		startButton.setPosition(-(startButton.getWidth() / 2), -(Gdx.graphics.getHeight() / 2) + 10);
+		startButtonBBox.setPosition(startButton.getX(), startButton.getY());
+
+		// Set OUYA's O button.
+		if(Ouya.runningOnOuya){
+			ouyaOButtonTexture = new Texture("data/gfx/gui/OUYA_O.png");
+			ouyaOButton = new Sprite(ouyaOButtonTexture);
+			ouyaOButton.setSize(ouyaOButton.getWidth() * 0.6f, ouyaOButton.getHeight() * 0.6f);
+			oButtonPressed = false;
+			ouyaOButton.setPosition(startButton.getX() - ouyaOButton.getWidth() - 20, startButton.getY() + (ouyaOButton.getHeight() / 2));
+		}else{
+			ouyaOButtonTexture = null;
+		}
+	}
+
+	private void performAutomaticAction(MarkerData data){
+		MotorEvent event1 = null;
+		MotorEvent event2 = null;
+		automatic_action_t nextAction;
+
+		try{
+			if(!automaticActionPerformer.performAutomaticAction(sensorThread.getLightSensorReading(), data)){
+				nextAction = automaticActionPerformer.getNextAction();
+
+				switch(nextAction){
+				case GO_BACKWARDS:
+					event1 = new MotorEvent();
+					event2 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_A);
+					event1.setPower((byte)-100);
+					event2.setMotor(motor_t.MOTOR_C);
+					event2.setPower((byte)-100);
+					break;
+
+				case GO_FORWARD:
+					event1 = new MotorEvent();
+					event2 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_A);
+					event1.setPower((byte)100);
+					event2.setMotor(motor_t.MOTOR_C);
+					event2.setPower((byte)100);
+					break;
+
+				case STOP:
+					event1 = new MotorEvent();
+					event2 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_A);
+					event1.setPower((byte)0);
+					event2.setMotor(motor_t.MOTOR_C);
+					event2.setPower((byte)0);
+					break;
+
+				case ROTATE_90:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.ROTATE_90);
+					event1.setPower((byte)100);
+					break;
+
+				case RECENTER:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.RECENTER);
+					event1.setPower((byte)100);
+					break;
+
+				case TURN_LEFT:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_A);
+					event1.setPower((byte)100);
+					break;
+
+				case TURN_RIGHT:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_C);
+					event1.setPower((byte)100);
+					break;
+
+				case BACKWARDS_LEFT:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_C);
+					event1.setPower((byte)-100);
+					break;
+
+				case BACKWARDS_RIGHT:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_A);
+					event1.setPower((byte)-100);
+					break;
+
+				case LOOK_RIGHT:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_B);
+					event1.setPower((byte)25);
+					break;
+
+				case LOOK_LEFT:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_B);
+					event1.setPower((byte)-25);
+					break;
+
+				case STOP_LOOKING:
+					event1 = new MotorEvent();
+					event1.setMotor(motor_t.MOTOR_B);
+					event1.setPower((byte)0);
+					break;
+
+				case NO_ACTION:
+				default:
+					break;
+				}
+
+				if(event1 != null)
+					queue.addEvent(event1);
+				if(event2 != null)
+					queue.addEvent(event2);
+
+			}else{
+				// TODO: Go to summary screen.
+				startButton.setDisabled(false);
+				ignoreBackKey = false;
+				automaticActionEnabled = false;
+				core.nextState = game_states_t.MAIN_MENU;
+			}
+
+		}catch(IllegalArgumentException e){
+			Gdx.app.log(TAG, CLASS_NAME + ".performAutomaticAction(): Received IllegalArgumentException: ", e);
+
+			startButton.setDisabled(false);
+			ignoreBackKey = false;
+			automaticActionEnabled = false;
+			core.nextState = game_states_t.MAIN_MENU;
+
+		}catch(IllegalStateException e){
+			Gdx.app.log(TAG, CLASS_NAME + ".performAutomaticAction(): Received IllegalStateException: ", e);
+
+			startButton.setDisabled(false);
+			ignoreBackKey = false;
+			automaticActionEnabled = false;
+			core.nextState = game_states_t.MAIN_MENU;
+		}
+	}
+
 	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;
 	  ; INPUT PROCESSOR METHODS ;
 	  ;;;;;;;;;;;;;;;;;;;;;;;;;;;*/
@@ -361,6 +585,11 @@ public class AutomaticActionState extends BaseState{
 			win2world.set(screenX, screenY, 0.0f);
 			unitaryOrthographicCamera.unproject(win2world);
 			touchPointWorldCoords.set(win2world.x * Gdx.graphics.getWidth(), win2world.y * Gdx.graphics.getHeight());
+
+			if(!startButton.isDisabled() && startButtonBBox.contains(touchPointWorldCoords)){
+				startButtonPressed = true;
+			}
+
 		}
 
 		return false;
@@ -372,6 +601,13 @@ public class AutomaticActionState extends BaseState{
 			win2world.set(screenX, screenY, 0.0f);
 			unitaryOrthographicCamera.unproject(win2world);
 			touchPointWorldCoords.set(win2world.x * Gdx.graphics.getWidth(), win2world.y * Gdx.graphics.getHeight());
+
+			if(!startButton.isDisabled() && startButtonPressed && startButtonBBox.contains(touchPointWorldCoords)){
+				startButton.setDisabled(true);
+				ignoreBackKey = true;
+				automaticActionEnabled = true;
+			}
+
 		}
 
 		return false;
@@ -383,6 +619,11 @@ public class AutomaticActionState extends BaseState{
 			win2world.set(screenX, screenY, 0.0f);
 			unitaryOrthographicCamera.unproject(win2world);
 			touchPointWorldCoords.set(win2world.x * Gdx.graphics.getWidth(), win2world.y * Gdx.graphics.getHeight());
+
+			if(!startButton.isDisabled() && startButtonPressed && !startButtonBBox.contains(touchPointWorldCoords)){
+				startButtonPressed = false;
+			}
+
 		}
 
 		return false;
@@ -390,7 +631,7 @@ public class AutomaticActionState extends BaseState{
 
 	@Override
 	public boolean keyDown(int keycode){
-		if(keycode == Input.Keys.BACK){
+		if(keycode == Input.Keys.BACK && !ignoreBackKey){
 			core.nextState = game_states_t.MAIN_MENU;
 			return true;
 		}
@@ -405,10 +646,11 @@ public class AutomaticActionState extends BaseState{
 	@Override
 	public boolean buttonDown(Controller controller, int buttonCode){
 		if(stateActive){
-			Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode));
+			if(buttonCode == Ouya.BUTTON_O && !startButton.isDisabled()){
-
+				oButtonPressed = true;
-			if(buttonCode == Ouya.BUTTON_O){
+				startButton.setChecked(true);
-
+			}else if(buttonCode == Ouya.BUTTON_A && !ignoreBackKey){
+				aButtonPressed = true;
 			}
 
 			return true;
@@ -420,9 +662,17 @@ public class AutomaticActionState extends BaseState{
 	@Override
 	public boolean buttonUp(Controller controller, int buttonCode){
 		if(stateActive){
-			Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode));
+			if(buttonCode == Ouya.BUTTON_O && oButtonPressed){
-
+				if(oButtonPressed){
-			if(buttonCode == Ouya.BUTTON_O){ }
+					oButtonPressed = false;
+					startButton.setChecked(false);
+					startButton.setDisabled(true);
+					ignoreBackKey = true;
+					automaticActionEnabled = true;
+				}
+			}else if(buttonCode == Ouya.BUTTON_A && aButtonPressed){
+				core.nextState = game_states_t.MAIN_MENU;
+			}
 
 			return true;
 		}else{

src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java

@@ -19,6 +19,7 @@ import ve.ucv.ciens.ccg.networkdata.MotorEvent;
 import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
 import ve.ucv.ciens.ccg.nxtar.NxtARCore;
 import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
+import ve.ucv.ciens.ccg.nxtar.game.GameGlobals;
 import ve.ucv.ciens.ccg.nxtar.graphics.CustomPerspectiveCamera;
 import ve.ucv.ciens.ccg.nxtar.input.GamepadUserInput;
 import ve.ucv.ciens.ccg.nxtar.input.KeyboardUserInput;
@@ -32,7 +33,6 @@ import ve.ucv.ciens.ccg.nxtar.systems.MarkerPositioningSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.MarkerRenderingSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.ObjectRenderingSystem;
 import ve.ucv.ciens.ccg.nxtar.systems.RobotArmPositioningSystem;
-import ve.ucv.ciens.ccg.nxtar.utils.GameSettings;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 import ve.ucv.ciens.ccg.nxtar.utils.Utils;
 
@@ -149,7 +149,10 @@ public class InGameState extends BaseState{
 	private VideoFrameMonitor               frameMonitor;
 	private MotorEventQueue                 queue;
 
-	public InGameState(final NxtARCore core) throws IllegalStateException{
+	public InGameState(final NxtARCore core) throws IllegalStateException, IllegalArgumentException{
+		if(core == null)
+			throw new IllegalArgumentException(CLASS_NAME + ": Core is null.");
+
 		this.core = core;
 		frameMonitor = VideoFrameMonitor.getInstance();
 		queue = MotorEventQueue.getInstance();
@@ -226,7 +229,7 @@ public class InGameState extends BaseState{
 			setUpButtons();
 
 		// Set up the game world.
-		gameWorld = GameSettings.getGameWorld();
+		gameWorld = GameGlobals.getGameWorld();
 
 		robotArmPositioningSystem = gameWorld.getSystem(RobotArmPositioningSystem.class);
 		markerRenderingSystem     = gameWorld.getSystem(MarkerRenderingSystem.class);
@@ -1162,7 +1165,7 @@ public class InGameState extends BaseState{
 				if(!gamepadButtonPressed[3]){
 					event = new MotorEvent();
 					event.setMotor(motor_t.MOTOR_B);
-					event.setPower((byte)-40);
+					event.setPower((byte)-25);
 					queue.addEvent(event);
 				}
 
@@ -1172,7 +1175,7 @@ public class InGameState extends BaseState{
 				if(!gamepadButtonPressed[2]){
 					event = new MotorEvent();
 					event.setMotor(motor_t.MOTOR_B);
-					event.setPower((byte)40);
+					event.setPower((byte)25);
 					queue.addEvent(event);
 				}
 

src/ve/ucv/ciens/ccg/nxtar/states/MainMenuStateBase.java

@@ -45,7 +45,7 @@ public abstract class MainMenuStateBase extends BaseState{
 	private static final String CLASS_NAME = MainMenuStateBase.class.getSimpleName();
 	private static final String SHADER_PATH = "shaders/movingBckg/movingBckg";
 
-	protected final int NUM_MENU_BUTTONS = 2;
+	protected final int NUM_MENU_BUTTONS = 3;
 
 	// Helper fields.
 	protected boolean clientConnected;
@@ -59,6 +59,8 @@ public abstract class MainMenuStateBase extends BaseState{
 	protected Rectangle  startButtonBBox;
 	protected TextButton calibrationButton;
 	protected Rectangle  calibrationButtonBBox;
+	protected TextButton autoButton;
+	protected Rectangle  autoButtonBBox;
 	protected Sprite     cameraCalibratedLedOn;
 	protected Sprite     cameraCalibratedLedOff;
 	protected Sprite     assetsLoadedLedOn;
@@ -86,6 +88,8 @@ public abstract class MainMenuStateBase extends BaseState{
 	protected int     startButtonTouchPointer;
 	protected boolean calibrationButtonTouched;
 	protected int     calibrationButtonTouchPointer;
+	protected boolean autoButtonTouched;
+	protected int     autoButtonTouchPointer;
 
 	public MainMenuStateBase(){
 		TextureRegion         region;
@@ -120,10 +124,12 @@ public abstract class MainMenuStateBase extends BaseState{
 		textButtonStyle.up = new NinePatchDrawable(menuButtonEnabled9p);
 		textButtonStyle.checked = new NinePatchDrawable(menuButtonPressed9p);
 		textButtonStyle.disabled = new NinePatchDrawable(menuButtonDisabled9p);
-		textButtonStyle.disabledFontColor = new Color(0, 0, 0, 1);
+		textButtonStyle.fontColor = new Color(Color.BLACK);
+		textButtonStyle.downFontColor = new Color(Color.WHITE);
+		textButtonStyle.disabledFontColor = new Color(Color.BLACK);
 
-		startButton = new TextButton("Start server", textButtonStyle);
+		startButton = new TextButton("Manual control", textButtonStyle);
-		startButton.setText("Start game");
+		startButton.setText("Manual control");
 		startButton.setDisabled(true);
 		startButtonBBox = new Rectangle(0, 0, startButton.getWidth(), startButton.getHeight());
 
@@ -133,6 +139,11 @@ public abstract class MainMenuStateBase extends BaseState{
 		calibrationButton.setDisabled(true);
 		calibrationButtonBBox = new Rectangle(0, 0, calibrationButton.getWidth(), calibrationButton.getHeight());
 
+		autoButton = new TextButton("Automatic action", textButtonStyle);
+		autoButton.setText("Automatic action");
+		autoButton.setDisabled(true);
+		autoButtonBBox = new Rectangle(0, 0, autoButton.getWidth(), autoButton.getHeight());
+
 		// Create the connection leds.
 		ledOnTexture = new Texture("data/gfx/gui/Anonymous_Button_Green.png");
 		ledOffTexture = new Texture("data/gfx/gui/Anonymous_Button_Red.png");
@@ -177,6 +188,8 @@ public abstract class MainMenuStateBase extends BaseState{
 		startButtonTouchPointer = -1;
 		calibrationButtonTouched = false;
 		calibrationButtonTouchPointer = -1;
+		autoButtonTouched = false;
+		autoButtonTouchPointer = -1;
 
 		clientConnected = false;
 		cameraCalibrated = false;
@@ -233,16 +246,17 @@ public abstract class MainMenuStateBase extends BaseState{
 
 	public void onCameraCalibrated(){
 		cameraCalibrated = true;
-		startGame();
+		enableGameButtons();
 	}
 
 	public void onAssetsLoaded(){
 		assetsLoaded = true;
-		startGame();
+		enableGameButtons();
 	}
 
-	private void startGame(){
+	private void enableGameButtons(){
 		startButton.setDisabled(!(cameraCalibrated && assetsLoaded));
+		autoButton.setDisabled(!(cameraCalibrated && assetsLoaded));
 	}
 
 	/*;;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -256,16 +270,21 @@ public abstract class MainMenuStateBase extends BaseState{
 		Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown(%d, %d, %d, %d)", screenX, screenY, pointer, button));
 		Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown() :: Unprojected touch point: (%f, %f)", touchPointWorldCoords.x, touchPointWorldCoords.y));
 
-		if(!startButton.isDisabled() && startButtonBBox.contains(touchPointWorldCoords) && !calibrationButtonTouched){
+		if(!startButton.isDisabled() && startButtonBBox.contains(touchPointWorldCoords) && (!calibrationButtonTouched && !autoButtonTouched)){
 			startButton.setChecked(true);
 			startButtonTouched = true;
 			startButtonTouchPointer = pointer;
 			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Start button pressed.");
-		}else if(!calibrationButton.isDisabled() && calibrationButtonBBox.contains(touchPointWorldCoords) && !startButtonTouched){
+		}else if(!calibrationButton.isDisabled() && calibrationButtonBBox.contains(touchPointWorldCoords) && (!startButtonTouched && !autoButtonTouched)){
 			calibrationButton.setChecked(true);
 			calibrationButtonTouched = true;
 			calibrationButtonTouchPointer = pointer;
 			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Calibration button pressed.");
+		}else if(!autoButton.isDisabled() && autoButtonBBox.contains(touchPointWorldCoords) && (!startButtonTouched && !calibrationButtonTouched)){
+			autoButton.setChecked(true);
+			autoButtonTouched = true;
+			autoButtonTouchPointer = pointer;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Auto button pressed.");
 		}
 
 		return true;
@@ -290,6 +309,12 @@ public abstract class MainMenuStateBase extends BaseState{
 			calibrationButtonTouchPointer = -1;
 			core.nextState = game_states_t.CALIBRATION;
 			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Calibration button released.");
+		}else if(!autoButton.isDisabled() && autoButtonBBox.contains(touchPointWorldCoords) && autoButtonTouched){
+			autoButton.setChecked(false);
+			autoButtonTouched = false;
+			autoButtonTouchPointer = -1;
+			core.nextState = game_states_t.AUTOMATIC_ACTION;
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Auto button released.");
 		}
 
 		return true;
@@ -309,6 +334,11 @@ public abstract class MainMenuStateBase extends BaseState{
 			calibrationButtonTouched = false;
 			calibrationButton.setChecked(false);
 			Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Start button released.");
+		}else if(!autoButton.isDisabled() && autoButtonTouched && pointer == autoButtonTouchPointer && !autoButtonBBox.contains(touchPointWorldCoords)){
+			autoButtonTouchPointer = -1;
+			autoButtonTouched = false;
+			autoButton.setChecked(false);
+			Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Auto button released.");
 		}
 
 		return true;

src/ve/ucv/ciens/ccg/nxtar/states/OuyaMainMenuState.java

@@ -46,9 +46,11 @@ public class OuyaMainMenuState extends MainMenuStateBase{
 		startButtonBBox.setPosition(startButton.getX(), startButton.getY());
 		calibrationButton.setPosition(-(calibrationButton.getWidth() / 2), (startButton.getY() + startButton.getHeight()) + 10);
 		calibrationButtonBBox.setPosition(calibrationButton.getX(), calibrationButton.getY());
+		autoButton.setPosition(-(autoButton.getWidth() / 2), (startButton.getY() - startButton.getHeight()) - 10);
+		autoButtonBBox.setPosition(autoButton.getX(), autoButton.getY());
 
 		//Set leds.
-		ledYPos = (-(Utils.getScreenHeight() / 2) * 0.5f) + (calibrationButton.getY() * 0.5f);
+		ledYPos = -(Utils.getScreenHeight() / 2) + 10;
 		cameraCalibratedLedOn.setSize(cameraCalibratedLedOn.getWidth() * 0.5f, cameraCalibratedLedOn.getHeight() * 0.5f);
 		cameraCalibratedLedOn.setPosition(-cameraCalibratedLedOn.getWidth() - 5, ledYPos);
 		cameraCalibratedLedOff.setSize(cameraCalibratedLedOff.getWidth() * 0.5f, cameraCalibratedLedOff.getHeight() * 0.5f);
@@ -88,12 +90,15 @@ public class OuyaMainMenuState extends MainMenuStateBase{
 			// Render buttons.
 			startButton.draw(core.batch, 1.0f);
 			calibrationButton.draw(core.batch, 1.0f);
+			autoButton.draw(core.batch, 1.0f);
 
 			// Render O button.
 			if(oButtonSelection == 0){
 				ouyaOButton.setPosition(startButton.getX() - ouyaOButton.getWidth() - 20, startButton.getY() + (ouyaOButton.getHeight() / 2));
 			}else if(oButtonSelection == 1){
 				ouyaOButton.setPosition(calibrationButton.getX() - ouyaOButton.getWidth() - 20, calibrationButton.getY() + (ouyaOButton.getHeight() / 2));
+			}else if(oButtonSelection == 2){
+				ouyaOButton.setPosition(autoButton.getX() - ouyaOButton.getWidth() - 20, autoButton.getY() + (ouyaOButton.getHeight() / 2));
 			}
 			ouyaOButton.draw(core.batch);
 
@@ -132,6 +137,13 @@ public class OuyaMainMenuState extends MainMenuStateBase{
 						oButtonPressed = true;
 						calibrationButton.setChecked(true);
 					}
+				}else if(oButtonSelection == 2){
+					if(!clientConnected){
+						core.toast("Can't launch automatic action. No client is connected.", true);
+					}else{
+						oButtonPressed = true;
+						autoButton.setChecked(true);
+					}
 				}
 			}else if(buttonCode == Ouya.BUTTON_DPAD_UP){
 				Gdx.app.log(TAG, CLASS_NAME + ".buttonDown(): Dpad up button pressed.");
@@ -162,6 +174,9 @@ public class OuyaMainMenuState extends MainMenuStateBase{
 					}else if(oButtonSelection == 1){
 						calibrationButton.setChecked(false);
 						core.nextState = game_states_t.CALIBRATION;
+					}else if(oButtonSelection == 2){
+						autoButton.setChecked(false);
+						core.nextState = game_states_t.AUTOMATIC_ACTION;
 					}
 				}
 			}

src/ve/ucv/ciens/ccg/nxtar/states/TabletMainMenuState.java

@@ -34,9 +34,11 @@ public class TabletMainMenuState extends MainMenuStateBase{
 		startButtonBBox.setPosition(startButton.getX(), startButton.getY());
 		calibrationButton.setPosition(-(calibrationButton.getWidth() / 2), (startButton.getY() + startButton.getHeight()) + 10);
 		calibrationButtonBBox.setPosition(calibrationButton.getX(), calibrationButton.getY());
+		autoButton.setPosition(-(autoButton.getWidth() / 2), (startButton.getY() - startButton.getHeight()) - 10);
+		autoButtonBBox.setPosition(autoButton.getX(), autoButton.getY());
 
 		// Set leds.
-		ledYPos = (-(Utils.getScreenHeight() / 2) * 0.5f) + (calibrationButton.getY() * 0.5f);
+		ledYPos = -(Utils.getScreenHeight() / 2) + 10;
 		cameraCalibratedLedOn.setSize(cameraCalibratedLedOn.getWidth() * 0.5f, cameraCalibratedLedOn.getHeight() * 0.5f);
 		cameraCalibratedLedOn.setPosition(-cameraCalibratedLedOn.getWidth() - 5, ledYPos);
 		cameraCalibratedLedOff.setSize(cameraCalibratedLedOff.getWidth() * 0.5f, cameraCalibratedLedOff.getHeight() * 0.5f);
@@ -69,6 +71,7 @@ public class TabletMainMenuState extends MainMenuStateBase{
 			// Render buttons.
 			startButton.draw(core.batch, 1.0f);
 			calibrationButton.draw(core.batch, 1.0f);
+			autoButton.draw(core.batch, 1.0f);
 
 		}core.batch.end();
 	}

src/ve/ucv/ciens/ccg/nxtar/systems/PlayerSystemBase.java

@@ -17,7 +17,7 @@ package ve.ucv.ciens.ccg.nxtar.systems;
 
 import ve.ucv.ciens.ccg.nxtar.NxtARCore;
 import ve.ucv.ciens.ccg.nxtar.components.PlayerComponentBase;
-import ve.ucv.ciens.ccg.nxtar.utils.GameSettings;
+import ve.ucv.ciens.ccg.nxtar.game.GameGlobals;
 
 import com.artemis.Aspect;
 import com.artemis.Entity;
@@ -42,7 +42,7 @@ public abstract class PlayerSystemBase extends EntityProcessingSystem {
 	protected final void finishGame(boolean victory){
 		// TODO: Switch to game over state.
 		// TODO: Set game over state parameters.
-		GameSettings.getEntityCreator().resetAllEntities();
+		GameGlobals.getEntityCreator().resetAllEntities();
 		core.nextState = NxtARCore.game_states_t.MAIN_MENU;
 	}