Merge branch 'develop'

README.md

@@ -0,0 +1,4 @@
+NxtAR-core
+==========
+
+Modulo 2 de mi trabajo especial de grado.

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

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

@@ -15,10 +15,12 @@
  */
 package ve.ucv.ciens.ccg.nxtar;
 
+import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor;
 import ve.ucv.ciens.ccg.nxtar.interfaces.MulticastEnabler;
 import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
 import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
 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.BaseState;
@@ -75,10 +77,12 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 			return this.value;
 		}
 	};
+
 	/**
 	 * The current application state.
 	 */
 	private game_states_t currState;
+
 	/**
 	 * <p>The state to change to.</p>
 	 * <p> Usually null. A state change is scheduled by setting this field to a {@link game_states_t} value.</p>
@@ -90,6 +94,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 
 	// Assorted fields.
 	public SpriteBatch batch;
+	public CVProcessor cvProc;
 	private Toaster toaster;
 
 	// Networking related fields.
@@ -98,6 +103,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 	private ServiceDiscoveryThread serviceDiscoveryThread;
 	private VideoStreamingThread videoThread;
 	private RobotControlThread robotThread;
+	private SensorReportThread sensorThread;
 
 	// Overlays.
 	private OrthographicCamera pixelPerfectCamera;
@@ -130,13 +136,22 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 			Gdx.app.error(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement MulticastEnabler. Quitting.");
 			Gdx.app.exit();
 		}
+
+		try{
+			this.cvProc = (CVProcessor)concreteApp;
+		}catch(ClassCastException cc){
+			Gdx.app.error(TAG, CLASS_NAME + ".Main() :: concreteApp does not implement the CVProcessor interface. Quitting.");
+			Gdx.app.exit();
+		}
 	}
 
 	public void create(){
 		// Create the state objects.
 		states = new BaseState[3];
-		if(Ouya.runningOnOuya)states[game_states_t.MAIN_MENU.getValue()] = new OuyaMainMenuState(this);
-		else states[game_states_t.MAIN_MENU.getValue()] = new TabletMainMenuState(this);
+		if(Ouya.runningOnOuya)
+			states[game_states_t.MAIN_MENU.getValue()] = new OuyaMainMenuState(this);
+		else
+			states[game_states_t.MAIN_MENU.getValue()] = new TabletMainMenuState(this);
 		states[game_states_t.IN_GAME.getValue()] = new InGameState(this);
 		states[game_states_t.PAUSED.getValue()] = new PauseState(this);
 
@@ -170,6 +185,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 		serviceDiscoveryThread = ServiceDiscoveryThread.getInstance();
 		videoThread = VideoStreamingThread.getInstance();
 		robotThread = RobotControlThread.getInstance();
+		sensorThread = SensorReportThread.getInstance();
 
 		serviceDiscoveryThread.start();
 
@@ -180,6 +196,9 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 		robotThread.addNetworkConnectionListener(this);
 		robotThread.start();
 
+		sensorThread.addNetworkConnectionListener(this);
+		sensorThread.start();
+
 		// Set the current and next states.
 		currState = game_states_t.MAIN_MENU;
 		nextState = null;
@@ -204,9 +223,9 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 		Controllers.addListener(states[currState.getValue()]);
 
 		// Anything else.
-		Gdx.app.setLogLevel(Application.LOG_INFO);
+		//Gdx.app.setLogLevel(Application.LOG_INFO);
 		//Gdx.app.setLogLevel(Application.LOG_DEBUG);
-		//Gdx.app.setLogLevel(Application.LOG_NONE);
+		Gdx.app.setLogLevel(Application.LOG_NONE);
 	}
 
 	public void render(){
@@ -266,6 +285,7 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 				font.draw(batch, String.format("Render FPS:        %d", Gdx.graphics.getFramesPerSecond()), fontX, fontY);
 				font.draw(batch, String.format("Total  stream FPS: %d", videoThread.getFps()), fontX, fontY - font.getCapHeight() - 5);
 				font.draw(batch, String.format("Lost   stream FPS: %d", videoThread.getLostFrames()), fontX, fontY - (2 * font.getCapHeight()) - 10);
+				font.draw(batch, String.format("Light sensor data: %d", sensorThread.getLightSensorReading()), fontX, fontY - (3 * font.getCapHeight()) - 15);
 			}batch.end();
 		}
 	}
@@ -300,10 +320,10 @@ public class NxtARCore extends Game implements NetworkConnectionListener{
 
 	@Override
 	public synchronized void networkStreamConnected(String streamName){
-		//if(streamName.equals(VideoStreamingThread.THREAD_NAME) || streamName.equals(RobotControlThread.THREAD_NAME))
 		Gdx.app.log(TAG, CLASS_NAME + ".networkStreamConnected() :: Stream " + streamName + " connected.");
 		connections += 1;
-		if(connections >= 2){
+
+		if(connections >= 3){
 			Gdx.app.debug(TAG, CLASS_NAME + ".networkStreamConnected() :: Stopping service broadcast.");
 			serviceDiscoveryThread.finish();
 			mcastEnabler.disableMulticast();

src/ve/ucv/ciens/ccg/nxtar/interfaces/CVProcessor.java

@@ -0,0 +1,26 @@
+/*
+ * 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.interfaces;
+
+public interface CVProcessor {
+	public class CVData{
+		public byte[] outFrame;
+		public int[] markerCodes;
+		// TODO: Add marker location data.
+	}
+
+	public CVData processFrame(byte[] frame, int w, int h);
+}

src/ve/ucv/ciens/ccg/nxtar/network/RobotControlThread.java

@@ -96,6 +96,7 @@ public class RobotControlThread extends Thread {
 
 		try{
 			client = server.accept();
+			client.setTcpNoDelay(true);
 			if(netListener != null) netListener.networkStreamConnected(THREAD_NAME);
 			os = new ObjectOutputStream(client.getOutputStream());
 			is = new ObjectInputStream(client.getInputStream());

src/ve/ucv/ciens/ccg/nxtar/network/SensorReportThread.java

@@ -15,10 +15,44 @@
  */
 package ve.ucv.ciens.ccg.nxtar.network;
 
+import java.io.IOException;
+import java.io.InputStream;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+import ve.ucv.ciens.ccg.nxtar.interfaces.NetworkConnectionListener;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+
+import com.badlogic.gdx.Gdx;
+
 public class SensorReportThread extends Thread {
+	public static final String THREAD_NAME = "SensorReportThread";
+	private static final String TAG = "NXTAR_CORE_ROBOTTHREAD";
+	private static final String CLASS_NAME = SensorReportThread.class.getSimpleName();
+
+	private NetworkConnectionListener netListener;
+	private ServerSocket server;
+	private Socket client;
+	private Object pauseMonitor;
+	private boolean paused;
+	private boolean done;
+	private InputStream reader;
+	private Byte lightReading;
 
 	private SensorReportThread(){
+		paused = false;
+		done = false;
+		netListener = null;
+		pauseMonitor = null;
+		client = null;
+		lightReading = -1;
 
+		try{
+			server = new ServerSocket(ProjectConstants.SENSOR_REPORT_PORT);
+		}catch(IOException io){
+			Gdx.app.error(TAG, CLASS_NAME + ".RobotControlThread() :: Error creating server: " + io.getMessage(), io);
+			server = null;
+		}
 	}
 
 	private static class SingletonHolder{
@@ -29,8 +63,64 @@ public class SensorReportThread extends Thread {
 		return SingletonHolder.INSTANCE;
 	}
 
+	public void addNetworkConnectionListener(NetworkConnectionListener listener){
+		netListener = listener;
+	}
+
+	public void pauseThread(){
+		synchronized(pauseMonitor){
+			paused = true;
+		}
+	}
+
+	public void resumeThread(){
+		synchronized(pauseMonitor){
+			paused = false;
+		}
+	}
+
+	public void finish(){
+		done = true;
+	}
+
+	public byte getLightSensorReading(){
+		byte data;
+
+		synchronized(lightReading){
+			data = lightReading.byteValue();
+		}
+
+		return data;
+	}
+
 	@Override
 	public void run(){
+		byte[] reading = new byte[1];
 
+		try{
+			client = server.accept();
+			client.setTcpNoDelay(true);
+			if(netListener != null) netListener.networkStreamConnected(THREAD_NAME);
+			reader = client.getInputStream();
+
+		}catch(IOException io){
+			Gdx.app.error(TAG, CLASS_NAME + ".run() :: Error accepting client: " + io.getMessage(), io);
+			return;
+		}
+
+		while(!paused){
+			if(done) break;
+
+			try{
+				reader.read(reading);
+			}catch(IOException io){
+				Gdx.app.error(TAG, CLASS_NAME + ".run() :: IOException during sensor read: " + io.getMessage(), io);
+				break;
+			}
+
+			synchronized (lightReading) {
+				lightReading = reading[0];
+			}
+		}
 	}
 }

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

@@ -21,6 +21,7 @@ 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.interfaces.CVProcessor.CVData;
 import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
 import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
 import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
@@ -74,6 +75,7 @@ public class InGameState extends BaseState{
 	private Sprite motorD;
 	private Sprite headA;
 	private Sprite headB;
+	private Sprite headC;
 
 	// Button touch helper fields.
 	private Vector3 win2world;
@@ -81,7 +83,6 @@ public class InGameState extends BaseState{
 	private boolean[] motorButtonsTouched;
 	private int[] motorButtonsPointers;
 	private boolean[] motorGamepadButtonPressed;
-	private boolean[] axisStopSent;
 
 	// Monitors.
 	private VideoFrameMonitor frameMonitor;
@@ -105,31 +106,32 @@ public class InGameState extends BaseState{
 		win2world = new Vector3(0.0f, 0.0f, 0.0f);
 		touchPointWorldCoords = new Vector2();
 
-		motorButtonsTouched = new boolean[6];
+		motorButtonsTouched = new boolean[7];
 		motorButtonsTouched[0] = false;
 		motorButtonsTouched[1] = false;
 		motorButtonsTouched[2] = false;
 		motorButtonsTouched[3] = false;
 		motorButtonsTouched[4] = false;
 		motorButtonsTouched[5] = false;
+		motorButtonsTouched[6] = false;
 
-		motorButtonsPointers = new int[6];
+		motorButtonsPointers = new int[7];
 		motorButtonsPointers[0] = -1;
 		motorButtonsPointers[1] = -1;
 		motorButtonsPointers[2] = -1;
 		motorButtonsPointers[3] = -1;
 		motorButtonsPointers[4] = -1;
 		motorButtonsPointers[5] = -1;
+		motorButtonsPointers[6] = -1;
 
-		motorGamepadButtonPressed = new boolean[2];
+		motorGamepadButtonPressed = new boolean[7];
 		motorGamepadButtonPressed[0] = false;
 		motorGamepadButtonPressed[1] = false;
-
-		axisStopSent = new boolean[4];
-		axisStopSent[0] = true;
-		axisStopSent[1] = true;
-		axisStopSent[2] = true;
-		axisStopSent[3] = true;
+		motorGamepadButtonPressed[2] = false;
+		motorGamepadButtonPressed[3] = false;
+		motorGamepadButtonPressed[4] = false;
+		motorGamepadButtonPressed[5] = false;
+		motorGamepadButtonPressed[6] = false;
 
 		backgroundTexture = new Texture(Gdx.files.internal("data/gfx/textures/tile_aqua.png"));
 		backgroundTexture.setWrap(TextureWrap.Repeat, TextureWrap.Repeat);
@@ -152,9 +154,11 @@ public class InGameState extends BaseState{
 
 	@Override
 	public void render(float delta){
+		int fW, fH;
 		byte[] frame;
 		byte[] prevFrame = null;
 		Size dimensions = null;
+		CVData data;
 
 		Gdx.gl.glClearColor(1, 1, 1, 1);
 		Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);
@@ -170,9 +174,20 @@ public class InGameState extends BaseState{
 		}core.batch.end();
 
 		frame = frameMonitor.getCurrentFrame();
-		if(frame != null && !Arrays.equals(frame, prevFrame)){
+		fW = frameMonitor.getFrameDimensions().getWidth();
+		fH = frameMonitor.getFrameDimensions().getHeight();
+
+		data = core.cvProc.processFrame(frame, fW, fH);
+
+		if(data != null){
+			for(int i = 0; i < data.markerCodes.length; i++){
+				Gdx.app.log(TAG, CLASS_NAME + String.format(".render(): Marker code[%d] = %d", i, data.markerCodes[i]));
+			}
+		}
+
+		if(data != null && data.outFrame != null && !Arrays.equals(frame, prevFrame)){
 			dimensions = frameMonitor.getFrameDimensions();
-			videoFrame = new Pixmap(frame, 0, dimensions.getWidth() * dimensions.getHeight());
+			videoFrame = new Pixmap(data.outFrame, 0, dimensions.getWidth() * dimensions.getHeight());
 			videoFrameTexture = new Texture(videoFrame);
 			videoFrameTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
 			videoFrame.dispose();
@@ -213,6 +228,7 @@ public class InGameState extends BaseState{
 				motorD.draw(core.batch);
 				headA.draw(core.batch);
 				headB.draw(core.batch);
+				headC.draw(core.batch);
 			}
 		}core.batch.end();
 
@@ -302,6 +318,10 @@ public class InGameState extends BaseState{
 
 		headA.setPosition(-headA.getWidth() - 10, motorA.getY() + (headA.getHeight() / 2));
 		headB.setPosition(10, motorA.getY() + (headA.getHeight() / 2));
+
+		headC = new Sprite(buttonTexture2);
+		headC.setSize(headC.getWidth() * 0.3f, headC.getHeight() * 0.6f);
+		headC.setPosition(-(headC.getWidth() / 2), headA.getY() - headA.getHeight() - 10);
 	}
 
 	/*;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -327,19 +347,18 @@ public class InGameState extends BaseState{
 				motorButtonsPointers[0] = pointer;
 
 				event = new MotorEvent();
-				event.setMotor(motor_t.MOTOR_C);
+				event.setMotor(motor_t.MOTOR_A);
 				event.setPower((byte)100);
 				queue.addEvent(event);
 
 			}else if(motorB.getBoundingRectangle().contains(touchPointWorldCoords)){
 				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Motor B button pressed");
 
-
 				motorButtonsTouched[1] = true;
 				motorButtonsPointers[1] = pointer;
 
 				event = new MotorEvent();
-				event.setMotor(motor_t.MOTOR_C);
+				event.setMotor(motor_t.MOTOR_A);
 				event.setPower((byte)-100);
 				queue.addEvent(event);
 
@@ -350,7 +369,7 @@ public class InGameState extends BaseState{
 				motorButtonsPointers[2] = pointer;
 
 				event = new MotorEvent();
-				event.setMotor(motor_t.MOTOR_A);
+				event.setMotor(motor_t.MOTOR_C);
 				event.setPower((byte)-100);
 				queue.addEvent(event);
 
@@ -361,7 +380,7 @@ public class InGameState extends BaseState{
 				motorButtonsPointers[3] = pointer;
 
 				event = new MotorEvent();
-				event.setMotor(motor_t.MOTOR_A);
+				event.setMotor(motor_t.MOTOR_C);
 				event.setPower((byte)100);
 				queue.addEvent(event);
 
@@ -387,6 +406,18 @@ public class InGameState extends BaseState{
 				event.setPower((byte)40);
 				queue.addEvent(event);
 
+			}else if(headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Head C button pressed");
+
+				if(!motorButtonsTouched[4] && !motorButtonsTouched[5]){
+					motorButtonsTouched[6] = true;
+					motorButtonsPointers[6] = pointer;
+
+					event = new MotorEvent();
+					event.setMotor(motor_t.RECENTER);
+					event.setPower((byte)0x00);
+					queue.addEvent(event);
+				}
 			}
 		}
 		return true;
@@ -413,7 +444,7 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[1]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_C);
+					event.setMotor(motor_t.MOTOR_A);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
@@ -427,7 +458,7 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[0]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_C);
+					event.setMotor(motor_t.MOTOR_A);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
@@ -441,7 +472,7 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[3]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_A);
+					event.setMotor(motor_t.MOTOR_C);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
@@ -455,7 +486,7 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[2]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_A);
+					event.setMotor(motor_t.MOTOR_C);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
@@ -488,6 +519,11 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
+			}else if(headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head C button released");
+
+				motorButtonsPointers[6] = -1;
+				motorButtonsTouched[6] = false;
 			}
 		}
 		return true;
@@ -511,7 +547,7 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[1]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_C);
+					event.setMotor(motor_t.MOTOR_A);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
@@ -525,7 +561,7 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[0]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_C);
+					event.setMotor(motor_t.MOTOR_A);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
@@ -539,7 +575,7 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[3]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_A);
+					event.setMotor(motor_t.MOTOR_C);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
@@ -553,13 +589,13 @@ public class InGameState extends BaseState{
 				// Enqueue the event corresponding to releasing this button if the opposing button is not pressed already.
 				if(!motorButtonsTouched[2]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_A);
+					event.setMotor(motor_t.MOTOR_C);
 					event.setPower((byte) 0);
 					queue.addEvent(event);
 				}
 
-			}else if(pointer == motorButtonsPointers[4] && headA.getBoundingRectangle().contains(touchPointWorldCoords)){
-				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head A button released");
+			}else if(pointer == motorButtonsPointers[4] && !headA.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Head A button released");
 
 				motorButtonsPointers[4] = -1;
 				motorButtonsTouched[4] = false;
@@ -572,8 +608,8 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
-			}else if(pointer == motorButtonsPointers[5] && headB.getBoundingRectangle().contains(touchPointWorldCoords)){
-				Gdx.app.log(TAG, CLASS_NAME + ".touchUp() :: Head B button released");
+			}else if(pointer == motorButtonsPointers[5] && !headB.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Head B button released");
 
 				motorButtonsPointers[5] = -1;
 				motorButtonsTouched[5] = false;
@@ -586,6 +622,11 @@ public class InGameState extends BaseState{
 					queue.addEvent(event);
 				}
 
+			}else if(pointer == motorButtonsPointers[6] && !headC.getBoundingRectangle().contains(touchPointWorldCoords)){
+				Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Head C button released");
+
+				motorButtonsPointers[6] = -1;
+				motorButtonsTouched[6] = false;
 			}
 		}
 		return true;
@@ -609,29 +650,76 @@ public class InGameState extends BaseState{
 	public boolean buttonDown(Controller controller, int buttonCode){
 		MotorEvent event;
 
-		if(stateActive && Ouya.runningOnOuya){
+		if(stateActive /*&& Ouya.runningOnOuya*/){
 			Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode));
 
 			if(buttonCode == Ouya.BUTTON_L1){
 				motorGamepadButtonPressed[0] = true;
 
-				if(!motorGamepadButtonPressed[1]){
+				if(!motorGamepadButtonPressed[4]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_B);
-					event.setPower((byte)100);
+					event.setMotor(motor_t.MOTOR_A);
+					event.setPower((byte)-100);
 					queue.addEvent(event);
 				}
 
 			}else if(buttonCode == Ouya.BUTTON_R1){
 				motorGamepadButtonPressed[1] = true;
 
-				if(!motorGamepadButtonPressed[0]){
+				if(!motorGamepadButtonPressed[5]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_B);
+					event.setMotor(motor_t.MOTOR_C);
 					event.setPower((byte)-100);
 					queue.addEvent(event);
 				}
 
+			}else if(buttonCode == Ouya.BUTTON_DPAD_LEFT){
+				motorGamepadButtonPressed[2] = false;
+
+				if(!motorGamepadButtonPressed[3]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)-40);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_DPAD_RIGHT){
+				motorGamepadButtonPressed[3] = false;
+
+				if(!motorGamepadButtonPressed[2]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)40);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode ==  Ouya.BUTTON_L2){
+				motorGamepadButtonPressed[4] = false;
+
+				if(!motorGamepadButtonPressed[0]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_A);
+					event.setPower((byte)100);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode ==  Ouya.BUTTON_R2){
+				motorGamepadButtonPressed[5] = false;
+
+				if(!motorGamepadButtonPressed[1]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_C);
+					event.setPower((byte)100);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_Y){
+				motorGamepadButtonPressed[6] = true;
+
+				event = new MotorEvent();
+				event.setMotor(motor_t.RECENTER);
+				event.setPower((byte)0x00);
+				queue.addEvent(event);
 			}
 
 			return true;
@@ -644,15 +732,15 @@ public class InGameState extends BaseState{
 	public boolean buttonUp(Controller controller, int buttonCode){
 		MotorEvent event;
 
-		if(stateActive && Ouya.runningOnOuya){
+		if(stateActive /*&& Ouya.runningOnOuya*/){
 			Gdx.app.log(TAG, CLASS_NAME + ".buttonDown() :: " + controller.getName() + " :: " + Integer.toString(buttonCode));
 
 			if(buttonCode == Ouya.BUTTON_L1){
 				motorGamepadButtonPressed[0] = false;
 
-				if(!motorGamepadButtonPressed[1]){
+				if(!motorGamepadButtonPressed[4]){
 					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_B);
+					event.setMotor(motor_t.MOTOR_A);
 					event.setPower((byte)0);
 					queue.addEvent(event);
 				}
@@ -660,13 +748,53 @@ public class InGameState extends BaseState{
 			}else if(buttonCode == Ouya.BUTTON_R1){
 				motorGamepadButtonPressed[1] = false;
 
-				if(!motorGamepadButtonPressed[0]){
+				if(!motorGamepadButtonPressed[5]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_C);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_DPAD_LEFT){
+				motorGamepadButtonPressed[2] = false;
+
+				if(!motorGamepadButtonPressed[3]){
 					event = new MotorEvent();
 					event.setMotor(motor_t.MOTOR_B);
 					event.setPower((byte)0);
 					queue.addEvent(event);
 				}
+			}else if(buttonCode == Ouya.BUTTON_DPAD_RIGHT){
+				motorGamepadButtonPressed[3] = false;
 
+				if(!motorGamepadButtonPressed[2]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_B);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+			}else if(buttonCode ==  Ouya.BUTTON_L2){
+				motorGamepadButtonPressed[4] = false;
+
+				if(!motorGamepadButtonPressed[0]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_A);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode ==  Ouya.BUTTON_R2){
+				motorGamepadButtonPressed[5] = false;
+
+				if(!motorGamepadButtonPressed[1]){
+					event = new MotorEvent();
+					event.setMotor(motor_t.MOTOR_C);
+					event.setPower((byte)0);
+					queue.addEvent(event);
+				}
+
+			}else if(buttonCode == Ouya.BUTTON_Y){
+				motorGamepadButtonPressed[6] = false;
 			}
 
 			return true;
@@ -677,60 +805,8 @@ public class InGameState extends BaseState{
 
 	@Override
 	public boolean axisMoved(Controller controller, int axisCode, float value){
-		MotorEvent event;
-
-		if(stateActive && Ouya.runningOnOuya){
-			if(Math.abs(value) >= Ouya.STICK_DEADZONE * 3.0f){
-
-				if(axisCode == Ouya.AXIS_LEFT_Y){
-					Gdx.app.log(TAG, CLASS_NAME + ".axisMoved() :: LEFT Y moved: "+ Float.toString(value));
-
-					axisStopSent[0] = false;
-
-					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_A);
-					event.setPower((byte)(100.0f * -value));
-					queue.addEvent(event);
-
-				}else if(axisCode == Ouya.AXIS_RIGHT_Y){
-					Gdx.app.log(TAG, CLASS_NAME + ".axisMoved() :: RIGHT Y moved: "+ Float.toString(value));
-
-					axisStopSent[1] = false;
-
-					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_C);
-					event.setPower((byte)(100.0f * -value));
-					queue.addEvent(event);
-
-				}
-
-			}else{
-
-				if(axisCode == Ouya.AXIS_LEFT_Y && !axisStopSent[0]){
-
-					axisStopSent[0] = true;
-
-					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_A);
-					event.setPower((byte)0);
-					queue.addEvent(event);
-
-				}else if(axisCode == Ouya.AXIS_RIGHT_Y && !axisStopSent[1]){
-
-					axisStopSent[1] = true;
-
-					event = new MotorEvent();
-					event.setMotor(motor_t.MOTOR_C);
-					event.setPower((byte)0);
-					queue.addEvent(event);
-
-				}
-			}
-			return true;
-		}else{
 		return false;
 	}
-	}
 
 	@Override
 	public void connected(Controller controller){ }
@@ -749,47 +825,36 @@ public class InGameState extends BaseState{
 
 	@Override
 	public boolean keyUp(int keycode){
-		// TODO Auto-generated method stub
 		return false;
 	}
 
 	@Override
 	public boolean keyTyped(char character){
-		// TODO Auto-generated method stub
 		return false;
 	}
 
 	@Override
-	public boolean povMoved(Controller controller, int povCode,
-			PovDirection value){
-		// TODO Auto-generated method stub
+	public boolean povMoved(Controller controller, int povCode, PovDirection value){
 		return false;
 	}
 
 	@Override
-	public boolean xSliderMoved(Controller controller, int sliderCode,
-			boolean value){
-		// TODO Auto-generated method stub
+	public boolean xSliderMoved(Controller controller, int sliderCode, boolean value){
 		return false;
 	}
 
 	@Override
-	public boolean ySliderMoved(Controller controller, int sliderCode,
-			boolean value){
-		// TODO Auto-generated method stub
+	public boolean ySliderMoved(Controller controller, int sliderCode, boolean value){
 		return false;
 	}
 
 	@Override
-	public boolean accelerometerMoved(Controller controller,
-			int accelerometerCode, Vector3 value){
-		// TODO Auto-generated method stub
+	public boolean accelerometerMoved(Controller controller, int accelerometerCode, Vector3 value){
 		return false;
 	}
 
 	@Override
 	public boolean scrolled(int amount){
-		// TODO Auto-generated method stub
 		return false;
 	}
 }