Updated javadocs for the new GH pages style.

Merge branch 'develop'
Added methods to encode and write messages to an output stream.
2018-10-01 16:21:25 -04:00 · 2015-02-05 15:29:03 -04:30 · 2015-01-12 14:22:35 -04:30 · 2014-12-18 11:55:28 -04:30 · 2014-12-18 11:54:55 -04:30 · 2014-12-16 21:00:28 -04:30
23 changed files with 4124 additions and 168 deletions
--- a/docs/allclasses-frame.html
+++ b/docs/allclasses-frame.html
@@ -0,0 +1,22 @@
 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
 <!-- NewPage -->
 <html lang="es">
 <head>
 <!-- Generated by javadoc (version 1.7.0_75) on Thu Feb 05 15:36:28 VET 2015 -->
 <title>All Classes</title>
 <meta name="date" content="2015-02-05">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 </head>
 <body>
 <h1 class="bar">All Classes</h1>
 <div class="indexContainer">
 <ul>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol" target="classFrame">DecodedControlAction</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol" target="classFrame">DecodedControlAction.Action</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol" target="classFrame">DecodedControlAction.Motor</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol" target="classFrame">NxtARControlProtocol</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol" target="classFrame"><i>UserActionListener</i></a></li>
 </ul>
 </div>
 </body>
 </html>
--- a/docs/allclasses-noframe.html
+++ b/docs/allclasses-noframe.html
@@ -0,0 +1,22 @@
 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
 <!-- NewPage -->
 <html lang="es">
 <head>
 <!-- Generated by javadoc (version 1.7.0_75) on Thu Feb 05 15:36:28 VET 2015 -->
 <title>All Classes</title>
 <meta name="date" content="2015-02-05">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 </head>
 <body>
 <h1 class="bar">All Classes</h1>
 <div class="indexContainer">
 <ul>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></li>
 <li><a href="ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><i>UserActionListener</i></a></li>
 </ul>
 </div>
 </body>
 </html>
--- a/docs/constant-values.html
+++ b/docs/constant-values.html
@@ -0,0 +1,111 @@
 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
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 <html lang="es">
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 <!-- Generated by javadoc (version 1.7.0_75) on Thu Feb 05 15:36:28 VET 2015 -->
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--- a/docs/deprecated-list.html
+++ b/docs/deprecated-list.html
@@ -0,0 +1,111 @@
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--- a/docs/help-doc.html
+++ b/docs/help-doc.html
@@ -0,0 +1,208 @@
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 <dt><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><span class="strong">DecodedControlAction</span></a> - Class in <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/package-summary.html">ve.ucv.ciens.icaro.libnxtarcontrol</a></dt>
 <dd>
 <div class="block">An immutable and pure data class that represents an action decoded from a protocol
 data message.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction()">DecodedControlAction()</a></span> - Constructor for class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dt>
 <dd>
 <div class="block">Create a new ControlAction object using <code>DecodedControlAction#STOP</code> as
 the default action, <code>DecodedControlAction#MOTOR_ABC</code> as motor flag, and
 0 as default speed.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action)">DecodedControlAction(DecodedControlAction.Action)</a></span> - Constructor for class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dt>
 <dd>
 <div class="block">Create a new ControlAction object using the specified action.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action,%20ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor)">DecodedControlAction(DecodedControlAction.Action, DecodedControlAction.Motor)</a></span> - Constructor for class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dt>
 <dd>
 <div class="block">Create a new ControlAction object using the specified action and motor flag.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action,%20ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">DecodedControlAction(DecodedControlAction.Action, DecodedControlAction.Motor, int)</a></span> - Constructor for class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dt>
 <dd>
 <div class="block">Create a new ControlAction object using the specified action, motor flag and speed.</div>
 </dd>
 <dt><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol"><span class="strong">DecodedControlAction.Action</span></a> - Enum in <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/package-summary.html">ve.ucv.ciens.icaro.libnxtarcontrol</a></dt>
 <dd>
 <div class="block">All recognized actions.</div>
 </dd>
 <dt><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol"><span class="strong">DecodedControlAction.Motor</span></a> - Enum in <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/package-summary.html">ve.ucv.ciens.icaro.libnxtarcontrol</a></dt>
 <dd>
 <div class="block">All motor ports and possible combinations without repetitions.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#decodeMessage(byte[])">decodeMessage(byte[])</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Decodes a protocol message encoded as a byte array of two elements as specified
 in the package definition.</div>
 </dd>
 </dl>
 <a name="_E_">
 <!--   -->
 </a>
 <h2 class="title">E</h2>
 <dl>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#encodeControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">encodeControlAction(DecodedControlAction)</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Encodes a given <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> into a two byte array.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#executeControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">executeControlAction(DecodedControlAction)</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Executes an already decoded <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a>, calling the user operation
 listeners if needed.</div>
 </dd>
 </dl>
 <a name="_M_">
 <!--   -->
 </a>
 <h2 class="title">M</h2>
 <dl>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#motor">motor</a></span> - Variable in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dt>
 <dd>&nbsp;</dd>
 </dl>
 <a name="_N_">
 <!--   -->
 </a>
 <h2 class="title">N</h2>
 <dl>
 <dt><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><span class="strong">NxtARControlProtocol</span></a> - Class in <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/package-summary.html">ve.ucv.ciens.icaro.libnxtarcontrol</a></dt>
 <dd>
 <div class="block">A wrapper around the NxtAR robot control protocol for the LejOS operating system.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#NxtARControlProtocol(java.io.DataInputStream,%20java.io.DataOutputStream)">NxtARControlProtocol(DataInputStream, DataOutputStream)</a></span> - Constructor for class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Create a new ARControl object.</div>
 </dd>
 </dl>
 <a name="_O_">
 <!--   -->
 </a>
 <h2 class="title">O</h2>
 <dl>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRegistered()">onListenerRegistered()</a></span> - Method in interface ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a></dt>
 <dd>
 <div class="block">Executes a set of instructions just after the listener has been registered with an <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a> instance.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRemoved()">onListenerRemoved()</a></span> - Method in interface ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a></dt>
 <dd>
 <div class="block">Executes a set of instructions just after the listener has been removed from an <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a> instance.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onUserAction1(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">onUserAction1(DecodedControlAction.Motor, int)</a></span> - Method in interface ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a></dt>
 <dd>
 <div class="block">Executes a set of instructions when a <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_1"><code>DecodedControlAction.Action.USER_1</code></a>.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onUserAction2(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">onUserAction2(DecodedControlAction.Motor, int)</a></span> - Method in interface ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a></dt>
 <dd>
 <div class="block">Executes a set of instructions when a <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_2"><code>DecodedControlAction.Action.USER_2</code></a>.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onUserAction3(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">onUserAction3(DecodedControlAction.Motor, int)</a></span> - Method in interface ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a></dt>
 <dd>
 <div class="block">Executes a set of instructions when a <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_3"><code>DecodedControlAction.Action.USER_3</code></a>.</div>
 </dd>
 </dl>
 <a name="_R_">
 <!--   -->
 </a>
 <h2 class="title">R</h2>
 <dl>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#readAndExecuteMessage()">readAndExecuteMessage()</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Attempts to read, decode and execute a message, calling the user operation
 listeners if needed.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#readRawControlMessage()">readRawControlMessage()</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Attempts to read a 2-byte message and returns it as is.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#registerUserActionListener(ve.ucv.ciens.icaro.libnxtarcontrol.UserActionListener)">registerUserActionListener(UserActionListener)</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Adds an <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><code>UserActionListener</code></a> to this object's listeners list calling it's 
 <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRegistered()"><code>onListenerRegistered()</code></a> method.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#removeUserActionListener(ve.ucv.ciens.icaro.libnxtarcontrol.UserActionListener)">removeUserActionListener(UserActionListener)</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Removes an <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><code>UserActionListener</code></a> from this object's listeners list calling it's 
 <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRemoved()"><code>onListenerRemoved()</code></a> method.</div>
 </dd>
 </dl>
 <a name="_S_">
 <!--   -->
 </a>
 <h2 class="title">S</h2>
 <dl>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#setInputStream(java.io.DataInputStream)">setInputStream(DataInputStream)</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Changes the input stream associated with this ARControl to the input stream passed as
 parameter.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#setOutputStream(java.io.DataOutputStream)">setOutputStream(DataOutputStream)</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Changes the <code>DataOutputStream</code> associated with this ARControl to the output stream passed as
 parameter.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#speed">speed</a></span> - Variable in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dt>
 <dd>&nbsp;</dd>
 </dl>
 <a name="_U_">
 <!--   -->
 </a>
 <h2 class="title">U</h2>
 <dl>
 <dt><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><span class="strong">UserActionListener</span></a> - Interface in <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/package-summary.html">ve.ucv.ciens.icaro.libnxtarcontrol</a></dt>
 <dd>
 <div class="block">An object to be notified when an user action has been received in a protocol message.</div>
 </dd>
 </dl>
 <a name="_V_">
 <!--   -->
 </a>
 <h2 class="title">V</h2>
 <dl>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a></dt>
 <dd>
 <div class="block">Returns the enum constant of this type with the specified name.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#valueOf(java.lang.String)">valueOf(String)</a></span> - Static method in enum ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a></dt>
 <dd>
 <div class="block">Returns the enum constant of this type with the specified name.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#values()">values()</a></span> - Static method in enum ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a></dt>
 <dd>
 <div class="block">Returns an array containing the constants of this enum type, in
 the order they are declared.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#values()">values()</a></span> - Static method in enum ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a></dt>
 <dd>
 <div class="block">Returns an array containing the constants of this enum type, in
 the order they are declared.</div>
 </dd>
 <dt><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/package-summary.html">ve.ucv.ciens.icaro.libnxtarcontrol</a> - package ve.ucv.ciens.icaro.libnxtarcontrol</dt>
 <dd>
 <div class="block">This package contains a wrapper library and reference implementation of the NxtAR
 robot control protocol for the LejOS operating system.</div>
 </dd>
 </dl>
 <a name="_W_">
 <!--   -->
 </a>
 <h2 class="title">W</h2>
 <dl>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#writeMessage(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">writeMessage(DecodedControlAction)</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Encodes and writes a <a href="./ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> into the associated <code>DataOutputStream</code> if any.</div>
 </dd>
 <dt><span class="strong"><a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#writeRawControlMessage(byte[])">writeRawControlMessage(byte[])</a></span> - Method in class ve.ucv.ciens.icaro.libnxtarcontrol.<a href="./ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></dt>
 <dd>
 <div class="block">Attempts to write a 2-byte message to the associated <code>DataOutputStream</code> if any.</div>
 </dd>
 </dl>
 <a href="#_A_">A</a>&nbsp;<a href="#_D_">D</a>&nbsp;<a href="#_E_">E</a>&nbsp;<a href="#_M_">M</a>&nbsp;<a href="#_N_">N</a>&nbsp;<a href="#_O_">O</a>&nbsp;<a href="#_R_">R</a>&nbsp;<a href="#_S_">S</a>&nbsp;<a href="#_U_">U</a>&nbsp;<a href="#_V_">V</a>&nbsp;<a href="#_W_">W</a>&nbsp;</div>
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--- a/docs/ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html
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 <meta name="date" content="2015-02-05">
 <link rel="stylesheet" type="text/css" href="../../../../../stylesheet.css" title="Style">
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 <body>
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 <li><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol"><span class="strong">Next Class</span></a></li>
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 <h2 title="Enum DecodedControlAction.Action" class="title">Enum DecodedControlAction.Action</h2>
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 <div class="contentContainer">
 <ul class="inheritance">
 <li>java.lang.Object</li>
 <li>
 <ul class="inheritance">
 <li>java.lang.Enum&lt;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&gt;</li>
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 <dl>
 <dt>Enclosing class:</dt>
 <dd><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dd>
 </dl>
 <hr>
 <br>
 <pre>public static enum <span class="strong">DecodedControlAction.Action</span>
 extends java.lang.Enum&lt;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&gt;</pre>
 <div class="block"><p>All recognized actions.</p></div>
 <dl><dt><span class="strong">Since:</span></dt>
  <dd>December 16, 2014</dd></dl>
 </li>
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 <tr>
 <th class="colOne" scope="col">Enum Constant and Description</th>
 </tr>
 <tr class="altColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#MOVE_BACKWARDS">MOVE_BACKWARDS</a></strong></code>&nbsp;</td>
 </tr>
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 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#MOVE_FORWARD">MOVE_FORWARD</a></strong></code>&nbsp;</td>
 </tr>
 <tr class="altColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#RECENTER">RECENTER</a></strong></code>&nbsp;</td>
 </tr>
 <tr class="rowColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#STOP">STOP</a></strong></code>&nbsp;</td>
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 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
 <th class="colLast" scope="col">Method and Description</th>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>static <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a></code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#valueOf(java.lang.String)">valueOf</a></strong>(java.lang.String&nbsp;name)</code>
 <div class="block">Returns the enum constant of this type with the specified name.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>static <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>[]</code></td>
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 <pre>public static&nbsp;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>[]&nbsp;values()</pre>
 <div class="block">Returns an array containing the constants of this enum type, in
 the order they are declared.  This method may be used to iterate
 over the constants as follows:
 <pre>
 for (DecodedControlAction.Action c : DecodedControlAction.Action.values())
 &nbsp;   System.out.println(c);
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 <dl><dt><span class="strong">Returns:</span></dt><dd>an array containing the constants of this enum type, in the order they are declared</dd></dl>
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 <div class="block">Returns the enum constant of this type with the specified name.
 The string must match <i>exactly</i> an identifier used to declare an
 enum constant in this type.  (Extraneous whitespace characters are 
 not permitted.)</div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>name</code> - the name of the enum constant to be returned.</dd>
 <dt><span class="strong">Returns:</span></dt><dd>the enum constant with the specified name</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.lang.IllegalArgumentException</code> - if this enum type has no constant with the specified name</dd>
 <dd><code>java.lang.NullPointerException</code> - if the argument is null</dd></dl>
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--- a/docs/ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html
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 <div class="subTitle">ve.ucv.ciens.icaro.libnxtarcontrol</div>
 <h2 title="Enum DecodedControlAction.Motor" class="title">Enum DecodedControlAction.Motor</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
 <li>java.lang.Object</li>
 <li>
 <ul class="inheritance">
 <li>java.lang.Enum&lt;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&gt;</li>
 <li>
 <ul class="inheritance">
 <li>ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor</li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 <div class="description">
 <ul class="blockList">
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 <dl>
 <dt>All Implemented Interfaces:</dt>
 <dd>java.io.Serializable, java.lang.Comparable&lt;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&gt;</dd>
 </dl>
 <dl>
 <dt>Enclosing class:</dt>
 <dd><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></dd>
 </dl>
 <hr>
 <br>
 <pre>public static enum <span class="strong">DecodedControlAction.Motor</span>
 extends java.lang.Enum&lt;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&gt;</pre>
 <div class="block"><p>All motor ports and possible combinations without repetitions.<p></div>
 <dl><dt><span class="strong">Since:</span></dt>
  <dd>December 16, 2014</dd></dl>
 </li>
 </ul>
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 <table class="overviewSummary" border="0" cellpadding="3" cellspacing="0" summary="Enum Constant Summary table, listing enum constants, and an explanation">
 <caption><span>Enum Constants</span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colOne" scope="col">Enum Constant and Description</th>
 </tr>
 <tr class="altColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#MOTOR_A">MOTOR_A</a></strong></code>&nbsp;</td>
 </tr>
 <tr class="rowColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#MOTOR_AB">MOTOR_AB</a></strong></code>&nbsp;</td>
 </tr>
 <tr class="altColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#MOTOR_ABC">MOTOR_ABC</a></strong></code>&nbsp;</td>
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 <tr class="rowColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#MOTOR_AC">MOTOR_AC</a></strong></code>&nbsp;</td>
 </tr>
 <tr class="altColor">
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 <tr class="rowColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#MOTOR_BC">MOTOR_BC</a></strong></code>&nbsp;</td>
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 <tr class="altColor">
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 <caption><span>Methods</span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
 <th class="colLast" scope="col">Method and Description</th>
 </tr>
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 <td class="colFirst"><code>static <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a></code></td>
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 <div class="block">Returns the enum constant of this type with the specified name.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>static <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>[]</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html#values()">values</a></strong>()</code>
 <div class="block">Returns an array containing the constants of this enum type, in
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 <pre>public static&nbsp;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>[]&nbsp;values()</pre>
 <div class="block">Returns an array containing the constants of this enum type, in
 the order they are declared.  This method may be used to iterate
 over the constants as follows:
 <pre>
 for (DecodedControlAction.Motor c : DecodedControlAction.Motor.values())
 &nbsp;   System.out.println(c);
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 <dl><dt><span class="strong">Returns:</span></dt><dd>an array containing the constants of this enum type, in the order they are declared</dd></dl>
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 <div class="block">Returns the enum constant of this type with the specified name.
 The string must match <i>exactly</i> an identifier used to declare an
 enum constant in this type.  (Extraneous whitespace characters are 
 not permitted.)</div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>name</code> - the name of the enum constant to be returned.</dd>
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--- a/docs/ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html
+++ b/docs/ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html
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 <div class="header">
 <div class="subTitle">ve.ucv.ciens.icaro.libnxtarcontrol</div>
 <h2 title="Class DecodedControlAction" class="title">Class DecodedControlAction</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
 <li>java.lang.Object</li>
 <li>
 <ul class="inheritance">
 <li>ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction</li>
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 <pre>public class <span class="strong">DecodedControlAction</span>
 extends java.lang.Object</pre>
 <div class="block"><p>An immutable and pure data class that represents an action decoded from a protocol
 data message.</p></div>
 <dl><dt><span class="strong">Since:</span></dt>
  <dd>December 15, 2014</dd></dl>
 </li>
 </ul>
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 <table class="overviewSummary" border="0" cellpadding="3" cellspacing="0" summary="Nested Class Summary table, listing nested classes, and an explanation">
 <caption><span>Nested Classes</span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
 <th class="colLast" scope="col">Class and Description</th>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>static class&nbsp;</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a></strong></code>
 <div class="block">All recognized actions.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>static class&nbsp;</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a></strong></code>
 <div class="block">All motor ports and possible combinations without repetitions.</div>
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 <caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
 <th class="colLast" scope="col">Field and Description</th>
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 <tr class="altColor">
 <td class="colFirst"><code><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a></code></td>
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 <tr class="altColor">
 <td class="colFirst"><code>int</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#speed">speed</a></strong></code>&nbsp;</td>
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 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction()">DecodedControlAction</a></strong>()</code>
 <div class="block">Create a new ControlAction object using <code>DecodedControlAction#STOP</code> as
 the default action, <code>DecodedControlAction#MOTOR_ABC</code> as motor flag, and
 0 as default speed.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action)">DecodedControlAction</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&nbsp;action)</code>
 <div class="block">Create a new ControlAction object using the specified action.</div>
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 </tr>
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 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action,%20ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor)">DecodedControlAction</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&nbsp;action,
                    <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motor)</code>
 <div class="block">Create a new ControlAction object using the specified action and motor flag.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html#DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action,%20ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">DecodedControlAction</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&nbsp;action,
                    <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motor,
                    int&nbsp;speed)</code>
 <div class="block">Create a new ControlAction object using the specified action, motor flag and speed.</div>
 </td>
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 <pre>public final&nbsp;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a> action</pre>
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 <pre>public final&nbsp;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a> motor</pre>
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 <pre>public&nbsp;DecodedControlAction()</pre>
 <div class="block"><p>Create a new ControlAction object using <code>DecodedControlAction#STOP</code> as
 the default action, <code>DecodedControlAction#MOTOR_ABC</code> as motor flag, and
 0 as default speed.</p></div>
 </li>
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 <pre>public&nbsp;DecodedControlAction(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&nbsp;action)</pre>
 <div class="block"><p>Create a new ControlAction object using the specified action. The motor 
 flag is set to <code>DecodedControlAction#MOTOR_ABC</code> and the speed is set to 100.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>action</code> - The action flag to set.</dd></dl>
 </li>
 </ul>
 <a name="DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action, ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor)">
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 <pre>public&nbsp;DecodedControlAction(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&nbsp;action,
                    <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motor)</pre>
 <div class="block"><p>Create a new ControlAction object using the specified action and motor flag. The
 speed is set to 100.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>action</code> - The action flag to set.</dd><dd><code>motor</code> - The motor flag to set.</dd></dl>
 </li>
 </ul>
 <a name="DecodedControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Action, ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor, int)">
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 <h4>DecodedControlAction</h4>
 <pre>public&nbsp;DecodedControlAction(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a>&nbsp;action,
                    <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motor,
                    int&nbsp;speed)</pre>
 <div class="block"><p>Create a new ControlAction object using the specified action, motor flag and speed.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>action</code> - The action flag to set.</dd><dd><code>motor</code> - The motor flag to set.</dd><dd><code>speed</code> - The speed to set. Will be clamped to the range [-100, 100].</dd></dl>
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 <div class="subTitle">ve.ucv.ciens.icaro.libnxtarcontrol</div>
 <h2 title="Class NxtARControlProtocol" class="title">Class NxtARControlProtocol</h2>
 </div>
 <div class="contentContainer">
 <ul class="inheritance">
 <li>java.lang.Object</li>
 <li>
 <ul class="inheritance">
 <li>ve.ucv.ciens.icaro.libnxtarcontrol.NxtARControlProtocol</li>
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 <br>
 <pre>public class <span class="strong">NxtARControlProtocol</span>
 extends java.lang.Object</pre>
 <div class="block"><p>A wrapper around the NxtAR robot control protocol for the LejOS operating system.</p></div>
 <dl><dt><span class="strong">Since:</span></dt>
  <dd>December 15, 2014</dd>
 <dt><span class="strong">See Also:</span></dt><dd><a href="http://www.lejos.org">The LejOS operating system.</a>, 
 <a href="https://github.com/sagge-miky/NxtAR-core">NxtAR-core Github repository.</a></dd></dl>
 </li>
 </ul>
 </div>
 <div class="summary">
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 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
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 <h3>Constructor Summary</h3>
 <table class="overviewSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
 <caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colOne" scope="col">Constructor and Description</th>
 </tr>
 <tr class="altColor">
 <td class="colOne"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#NxtARControlProtocol(java.io.DataInputStream,%20java.io.DataOutputStream)">NxtARControlProtocol</a></strong>(java.io.DataInputStream&nbsp;inputStream,
                    java.io.DataOutputStream&nbsp;outputStream)</code>
 <div class="block">Create a new ARControl object.</div>
 </td>
 </tr>
 </table>
 </li>
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 <caption><span>Methods</span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
 <th class="colLast" scope="col">Method and Description</th>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a></code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#decodeMessage(byte[])">decodeMessage</a></strong>(byte[]&nbsp;message)</code>
 <div class="block">Decodes a protocol message encoded as a byte array of two elements as specified
 in the package definition.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>byte[]</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#encodeControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">encodeControlAction</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a>&nbsp;action)</code>
 <div class="block">Encodes a given <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> into a two byte array.</div>
 </td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>boolean</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#executeControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">executeControlAction</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a>&nbsp;controlAction)</code>
 <div class="block">Executes an already decoded <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a>, calling the user operation
 listeners if needed.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>boolean</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#readAndExecuteMessage()">readAndExecuteMessage</a></strong>()</code>
 <div class="block">Attempts to read, decode and execute a message, calling the user operation
 listeners if needed.</div>
 </td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>byte[]</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#readRawControlMessage()">readRawControlMessage</a></strong>()</code>
 <div class="block">Attempts to read a 2-byte message and returns it as is.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#registerUserActionListener(ve.ucv.ciens.icaro.libnxtarcontrol.UserActionListener)">registerUserActionListener</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a>&nbsp;listener)</code>
 <div class="block">Adds an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><code>UserActionListener</code></a> to this object's listeners list calling it's 
 <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRegistered()"><code>UserActionListener.onListenerRegistered()</code></a> method.</div>
 </td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#removeUserActionListener(ve.ucv.ciens.icaro.libnxtarcontrol.UserActionListener)">removeUserActionListener</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a>&nbsp;listener)</code>
 <div class="block">Removes an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><code>UserActionListener</code></a> from this object's listeners list calling it's 
 <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRemoved()"><code>UserActionListener.onListenerRemoved()</code></a> method.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#setInputStream(java.io.DataInputStream)">setInputStream</a></strong>(java.io.DataInputStream&nbsp;inputStream)</code>
 <div class="block">Changes the input stream associated with this ARControl to the input stream passed as
 parameter.</div>
 </td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#setOutputStream(java.io.DataOutputStream)">setOutputStream</a></strong>(java.io.DataOutputStream&nbsp;outputStream)</code>
 <div class="block">Changes the <code>DataOutputStream</code> associated with this ARControl to the output stream passed as
 parameter.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>boolean</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#writeMessage(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">writeMessage</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a>&nbsp;action)</code>
 <div class="block">Encodes and writes a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> into the associated <code>DataOutputStream</code> if any.</div>
 </td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#writeRawControlMessage(byte[])">writeRawControlMessage</a></strong>(byte[]&nbsp;message)</code>
 <div class="block">Attempts to write a 2-byte message to the associated <code>DataOutputStream</code> if any.</div>
 </td>
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 </ul>
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 <pre>public&nbsp;NxtARControlProtocol(java.io.DataInputStream&nbsp;inputStream,
                    java.io.DataOutputStream&nbsp;outputStream)</pre>
 <div class="block"><p>Create a new ARControl object.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>inputStream</code> - A <code>DataInputStream</code> used to read protocol messages from. Can be null.</dd><dd><code>outputStream</code> - An <code>DataOutputStream</code> used to write protocol messages to. Can be null.</dd></dl>
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 <h4>setOutputStream</h4>
 <pre>public&nbsp;void&nbsp;setOutputStream(java.io.DataOutputStream&nbsp;outputStream)
                     throws java.io.IOException</pre>
 <div class="block"><p>Changes the <code>DataOutputStream</code> associated with this ARControl to the output stream passed as
 parameter. The currently set output stream is flushed and closed before replacing it.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>outpuStream</code> - An opened output stream. Can be null.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.io.IOException</code> - If an error happened while closing the previous output stream.</dd></dl>
 </li>
 </ul>
 <a name="writeRawControlMessage(byte[])">
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 <h4>writeRawControlMessage</h4>
 <pre>public&nbsp;void&nbsp;writeRawControlMessage(byte[]&nbsp;message)
                            throws java.io.IOException,
                                   java.lang.IllegalArgumentException</pre>
 <div class="block"><p>Attempts to write a 2-byte message to the associated <code>DataOutputStream</code> if any.</p>
 <p>Returns immediately if no <code>DataOutputStream</code> has been set with
 <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#setOutputStream(java.io.DataOutputStream)"><code>setOutputStream(DataOutputStream)</code></a> or if the message is null. If the
 message is longer than two bytes only the first two bytes are written to the output stream.</p></div>
 <dl><dt><span class="strong">Throws:</span></dt>
 <dd><code>java.io.IOException</code> - If writing the message fails. It is the same IOException
 as thrown by <code>DataOutput.write(byte[], int, int)</code>.</dd>
 <dd><code>java.lang.IllegalArgumentException</code> - If the message lenght is less than two.</dd></dl>
 </li>
 </ul>
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 <!--   -->
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 <h4>encodeControlAction</h4>
 <pre>public&nbsp;byte[]&nbsp;encodeControlAction(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a>&nbsp;action)</pre>
 <div class="block"><p>Encodes a given <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> into a two byte array.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>action</code> - the action to encode.</dd>
 <dt><span class="strong">Returns:</span></dt><dd>The encoded action. Null if said action is null.</dd></dl>
 </li>
 </ul>
 <a name="writeMessage(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">
 <!--   -->
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 <h4>writeMessage</h4>
 <pre>public&nbsp;boolean&nbsp;writeMessage(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a>&nbsp;action)
                     throws java.io.IOException</pre>
 <div class="block"><p>Encodes and writes a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> into the associated <code>DataOutputStream</code> if any.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>action</code> - The action to write.</dd>
 <dt><span class="strong">Returns:</span></dt><dd>True if writing the action succeded. False if either the action or the DataOutputStream are null.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.io.IOException</code> - If writing the message fails.</dd></dl>
 </li>
 </ul>
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 <!--   -->
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 <h4>setInputStream</h4>
 <pre>public&nbsp;void&nbsp;setInputStream(java.io.DataInputStream&nbsp;inputStream)
                    throws java.io.IOException</pre>
 <div class="block"><p>Changes the input stream associated with this ARControl to the input stream passed as
 parameter. The currently set input stream is closed before replacing it.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>inputStream</code> - An opened input stream. Can be null.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.io.IOException</code> - If an error happened while closing the previous input stream.</dd></dl>
 </li>
 </ul>
 <a name="readRawControlMessage()">
 <!--   -->
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 <h4>readRawControlMessage</h4>
 <pre>public&nbsp;byte[]&nbsp;readRawControlMessage()
                             throws java.io.IOException</pre>
 <div class="block"><p>Attempts to read a 2-byte message and returns it as is.</p>
 <p>Returns null if no <code>DataInputStream</code> has been set with
 <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html#setInputStream(java.io.DataInputStream)"><code>setInputStream(DataInputStream)</code></a>.</p></div>
 <dl><dt><span class="strong">Returns:</span></dt><dd>The two bytes read from the associated connection as an array.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.io.IOException</code> - If reading the message fails. It is the same IOException
 as thrown by <code>DataInput.readByte()</code>.</dd></dl>
 </li>
 </ul>
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 <!--   -->
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 <h4>readAndExecuteMessage</h4>
 <pre>public&nbsp;boolean&nbsp;readAndExecuteMessage()
                              throws java.io.IOException</pre>
 <div class="block"><p>Attempts to read, decode and execute a message, calling the user operation
 listeners if needed.</p></div>
 <dl><dt><span class="strong">Returns:</span></dt><dd>True if a message could be read, decoded and executed successfully. False otherwise.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.io.IOException</code> - If reading the message fails. It is the same IOException
 as thrown by <code>DataInput.readByte()</code> if any.</dd></dl>
 </li>
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 <pre>public&nbsp;<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a>&nbsp;decodeMessage(byte[]&nbsp;message)
                                   throws java.lang.IllegalArgumentException</pre>
 <div class="block"><p>Decodes a protocol message encoded as a byte array of two elements as specified
 in the package definition.</p>
 <p>User actions have precedence over motor recentering and
 this in turn has precedence over other movement actions.
 User actions have precedence in decreasing order; that is, user action 1 has
 precedence over user actions 2 and 3, etc.</p>
 <p>If the message indicates a movement (forward or backward) with all motors off,
 then it is interpreted as a request to stop all motors. A recenter or user action
 with all motors off will be decoded as is and must be interpreted by the user.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>message</code> - A byte array of size two encoding a message recognized by the protocol. If the array
 has 3 or more elements then only the first 2 are used during the decoding process.</dd>
 <dt><span class="strong">Returns:</span></dt><dd>A <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> instance containing the decoded message.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.lang.IllegalArgumentException</code> - If the array is null or has less than 2 elements.</dd></dl>
 </li>
 </ul>
 <a name="executeControlAction(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction)">
 <!--   -->
 </a>
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 <li class="blockList">
 <h4>executeControlAction</h4>
 <pre>public&nbsp;boolean&nbsp;executeControlAction(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction</a>&nbsp;controlAction)
                             throws java.lang.IllegalArgumentException</pre>
 <div class="block"><p>Executes an already decoded <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a>, calling the user operation
 listeners if needed.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>controlAction</code> - The action to execute.</dd>
 <dt><span class="strong">Returns:</span></dt><dd>True if the action could be executed successfully. False otherwise.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.lang.IllegalArgumentException</code> - If controlAction is null.</dd></dl>
 </li>
 </ul>
 <a name="registerUserActionListener(ve.ucv.ciens.icaro.libnxtarcontrol.UserActionListener)">
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 <h4>registerUserActionListener</h4>
 <pre>public&nbsp;void&nbsp;registerUserActionListener(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a>&nbsp;listener)
                                throws java.lang.IllegalArgumentException</pre>
 <div class="block"><p>Adds an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><code>UserActionListener</code></a> to this object's listeners list calling it's 
 <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRegistered()"><code>UserActionListener.onListenerRegistered()</code></a> method. Adding a listener that
 is already registered does nothing.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>listener</code> - The listener to add.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.lang.IllegalArgumentException</code> - If listener is null.</dd></dl>
 </li>
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 <pre>public&nbsp;void&nbsp;removeUserActionListener(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a>&nbsp;listener)
                              throws java.lang.IllegalArgumentException</pre>
 <div class="block"><p>Removes an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol"><code>UserActionListener</code></a> from this object's listeners list calling it's 
 <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRemoved()"><code>UserActionListener.onListenerRemoved()</code></a> method. Removing a listener that
 is NOT on the list does nothing.</p></div>
 <dl><dt><span class="strong">Parameters:</span></dt><dd><code>listener</code> - The listener to remove.</dd>
 <dt><span class="strong">Throws:</span></dt>
 <dd><code>java.lang.IllegalArgumentException</code> - If listener is null.</dd></dl>
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 <div class="subTitle">ve.ucv.ciens.icaro.libnxtarcontrol</div>
 <h2 title="Interface UserActionListener" class="title">Interface UserActionListener</h2>
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 <pre>public interface <span class="strong">UserActionListener</span></pre>
 <div class="block"><p>An object to be notified when an user action has been received in a protocol message.</p></div>
 <dl><dt><span class="strong">Since:</span></dt>
  <dd>December 16, 2014</dd></dl>
 </li>
 </ul>
 </div>
 <div class="summary">
 <ul class="blockList">
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 <!-- ========== METHOD SUMMARY =========== -->
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 <h3>Method Summary</h3>
 <table class="overviewSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
 <caption><span>Methods</span><span class="tabEnd">&nbsp;</span></caption>
 <tr>
 <th class="colFirst" scope="col">Modifier and Type</th>
 <th class="colLast" scope="col">Method and Description</th>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRegistered()">onListenerRegistered</a></strong>()</code>
 <div class="block">Executes a set of instructions just after the listener has been registered with an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a> instance.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onListenerRemoved()">onListenerRemoved</a></strong>()</code>
 <div class="block">Executes a set of instructions just after the listener has been removed from an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a> instance.</div>
 </td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onUserAction1(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">onUserAction1</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motorFlag,
             int&nbsp;speed)</code>
 <div class="block">Executes a set of instructions when a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_1"><code>DecodedControlAction.Action.USER_1</code></a>.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onUserAction2(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">onUserAction2</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motorFlag,
             int&nbsp;speed)</code>
 <div class="block">Executes a set of instructions when a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_2"><code>DecodedControlAction.Action.USER_2</code></a>.</div>
 </td>
 </tr>
 <tr class="altColor">
 <td class="colFirst"><code>void</code></td>
 <td class="colLast"><code><strong><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html#onUserAction3(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor,%20int)">onUserAction3</a></strong>(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motorFlag,
             int&nbsp;speed)</code>
 <div class="block">Executes a set of instructions when a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_3"><code>DecodedControlAction.Action.USER_3</code></a>.</div>
 </td>
 </tr>
 </table>
 </li>
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 <!-- ============ METHOD DETAIL ========== -->
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 <!--   -->
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 <ul class="blockList">
 <li class="blockList">
 <h4>onListenerRegistered</h4>
 <pre>void&nbsp;onListenerRegistered()</pre>
 <div class="block"><p>Executes a set of instructions just after the listener has been registered with an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a> instance.</p></div>
 </li>
 </ul>
 <a name="onUserAction1(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor, int)">
 <!--   -->
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 <h4>onUserAction1</h4>
 <pre>void&nbsp;onUserAction1(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motorFlag,
                 int&nbsp;speed)</pre>
 <div class="block"><p>Executes a set of instructions when a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_1"><code>DecodedControlAction.Action.USER_1</code></a>.</p></div>
 </li>
 </ul>
 <a name="onUserAction2(ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor, int)">
 <!--   -->
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 <h4>onUserAction2</h4>
 <pre>void&nbsp;onUserAction2(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motorFlag,
                 int&nbsp;speed)</pre>
 <div class="block"><p>Executes a set of instructions when a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_2"><code>DecodedControlAction.Action.USER_2</code></a>.</p></div>
 </li>
 </ul>
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 <!--   -->
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 <h4>onUserAction3</h4>
 <pre>void&nbsp;onUserAction3(<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a>&nbsp;motorFlag,
                 int&nbsp;speed)</pre>
 <div class="block"><p>Executes a set of instructions when a <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>DecodedControlAction</code></a> is decoded with <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html#USER_3"><code>DecodedControlAction.Action.USER_3</code></a>.</p></div>
 </li>
 </ul>
 <a name="onListenerRemoved()">
 <!--   -->
 </a>
 <ul class="blockListLast">
 <li class="blockList">
 <h4>onListenerRemoved</h4>
 <pre>void&nbsp;onListenerRemoved()</pre>
 <div class="block"><p>Executes a set of instructions just after the listener has been removed from an <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a> instance.</p></div>
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 <h1 title="Package" class="title">Package&nbsp;ve.ucv.ciens.icaro.libnxtarcontrol</h1>
 <div class="docSummary">
 <div class="block">This package contains a wrapper library and reference implementation of the NxtAR
 robot control protocol for the LejOS operating system.</div>
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 <td class="colFirst"><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.html" title="interface in ve.ucv.ciens.icaro.libnxtarcontrol">UserActionListener</a></td>
 <td class="colLast">
 <div class="block">An object to be notified when an user action has been received in a protocol message.</div>
 </td>
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 <td class="colLast">
 <div class="block">An immutable and pure data class that represents an action decoded from a protocol
 data message.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol">NxtARControlProtocol</a></td>
 <td class="colLast">
 <div class="block">A wrapper around the NxtAR robot control protocol for the LejOS operating system.</div>
 </td>
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 <th class="colLast" scope="col">Description</th>
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 <td class="colFirst"><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Action.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Action</a></td>
 <td class="colLast">
 <div class="block">All recognized actions.</div>
 </td>
 </tr>
 <tr class="rowColor">
 <td class="colFirst"><a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol">DecodedControlAction.Motor</a></td>
 <td class="colLast">
 <div class="block">All motor ports and possible combinations without repetitions.</div>
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 <h2 title="Package ve.ucv.ciens.icaro.libnxtarcontrol Description">Package ve.ucv.ciens.icaro.libnxtarcontrol Description</h2>
 <div class="block"><p>This package contains a wrapper library and reference implementation of the NxtAR
 robot control protocol for the LejOS operating system.</p>
 <p>The protocol is based on 2 byte long data messages that encode a set of motor ports, actions
 on those motors and the speed of the motors. The first byte encodes a set actions and motors, while the
 second byte contains an integer number representing the speed to set to the enabled motors. The first
 byte's bits encode the following data (from least significant to most significant bit): </p>
 <ul>
        <li>Motor port A enabled.</li>
        <li>Motor port B enabled.</li>
        <li>Motor port C enabled.</li>
        <li>Direction of movement. 0 for backward movement, 1 for forward movement.</li>
        <li>Request to return the enabled motors to their initial positions.</li>
        <li>Customizable user action 1.</li>
        <li>Customizable user action 2.</li>
        <li>Customizable user action 3.</li>
 </ul>
 <p>This bits are decoded using the binary masks defined in <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a>.
 This mechanism allows to set the state or execute an action on multiple motors simultaneously. The user actions are
 executed using callback objects registered with the aforementioned class.</p>
 <p>The <a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.html" title="class in ve.ucv.ciens.icaro.libnxtarcontrol"><code>NxtARControlProtocol</code></a> class includes methods to
 read, decode and execute a protocol message, independently of how those messages are generated. An example
 would be messages read from a Bluetooth or USB stream, as well as messages generated by the application
 that is using the library.</p></div>
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 <ul>
 <li type="circle">java.lang.Object
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 <li type="circle">ve.ucv.ciens.icaro.libnxtarcontrol.<a href="../../../../../ve/ucv/ciens/icaro/libnxtarcontrol/DecodedControlAction.Motor.html" title="enum in ve.ucv.ciens.icaro.libnxtarcontrol"><span class="strong">DecodedControlAction.Motor</span></a></li>
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--- a/src/ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.java
+++ b/src/ve/ucv/ciens/icaro/libnxtarcontrol/NxtARControlProtocol.java
@@ -14,6 +14,8 @@ package ve.ucv.ciens.icaro.libnxtarcontrol;
 import java.io.DataInput;
 import java.io.DataInputStream;
 import java.io.DataOutput;
 import java.io.DataOutputStream;
 import java.io.IOException;
 import java.util.LinkedList;
@@ -28,7 +30,7 @@ import ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor;
 * @see <a href="http://www.lejos.org">The LejOS operating system.</a>
 * @see <a href="https://github.com/sagge-miky/NxtAR-core">NxtAR-core Github repository.</a>
 * @author Miguel Angel Astor Romero
- * @version 1.0
+ * @version 1.2.0
 * @since December 15, 2014
 */
 public class NxtARControlProtocol {
@@ -53,69 +55,206 @@ public class NxtARControlProtocol {
 	private static final byte USER_2      = (byte)0x40;
 	private static final byte USER_3      = (byte)0x80;
 	// Helpfull masks.
 	private static final byte STOP_ALL_MOTORS = (byte)0xF8;
 	private static final byte MOVE_BACKWARD = (byte)0xF8;
 	private DataInputStream inputStream;
 	private DataOutputStream outputStream;
 	private LinkedList<UserActionListener> userActionListeners;
 	/**
 	 * <p>Create a new ARControl object.</p> 
 	 * 
-	 * @param inputStream An opened input stream used to read protocol messages from.
+	 * @param inputStream A {@link DataInputStream} used to read protocol messages from. Can be null.
-	 * @throws IllegalArgumentException If inputStream is null.
+	 * @param outputStream An {@link DataOutputStream} used to write protocol messages to. Can be null.
 	 */
-	public NxtARControlProtocol(final DataInputStream inputStream) throws IllegalArgumentException{
+	public NxtARControlProtocol(final DataInputStream inputStream, final DataOutputStream outputStream){
-		if(inputStream == null)
+		this.outputStream = outputStream;
 			throw new IllegalArgumentException("Input stream is null.");
 		this.inputStream = inputStream;
 		this.userActionListeners = new LinkedList<UserActionListener>();
 	}
 	/**
-	 * <p>Changes the input stream associated with this ARControl for the input stream passed as
+	 * <p>Changes the {@link DataOutputStream} associated with this ARControl to the output stream passed as
-	 * parameter. The currently set input stream is closed before replacing it.</p>
+	 * parameter. The currently set output stream is flushed and closed before replacing it.</p>
 	 * 
-	 * @param inputStream An opened input stream.
+	 * @param outpuStream An opened output stream. Can be null.
-	 * @throws IOException If an error happened while closing the previous input stream.
+	 * @throws IOException If an error happened while closing the previous output stream.
 	 * @throws IllegalArgumentException If the input stream is null.
 	 */
-	public void setInputStream(DataInputStream inputStream) throws IOException, IllegalArgumentException{
+	public void setOutputStream(DataOutputStream outputStream) throws IOException{
-		if(inputStream == null)
+		if(this.outputStream != null){
-			throw new IllegalArgumentException("Input stream is null.");
+			this.outputStream.flush();
-
+			this.outputStream.close();
-		try{
+			this.outputStream = null;
-			this.inputStream.close();
+		}
-		}catch(IOException io){
+
-			throw io;
+		this.outputStream = outputStream;
 	}
 	/**
 	 * <p>Attempts to write a 2-byte message to the associated {@link DataOutputStream} if any.</p>
 	 * 
 	 * <p>Returns immediately if no {@link DataOutputStream} has been set with
 	 * {@link NxtARControlProtocol#setOutputStream(DataOutputStream)} or if the message is null. If the
 	 * message is longer than two bytes only the first two bytes are written to the output stream.</p>
 	 * 
 	 * @throws IOException If writing the message fails. It is the same IOException
 	 * as thrown by {@link DataOutput#write(byte[], int, int)}.
 	 * @throws IllegalArgumentException If the message lenght is less than two.
 	 */
 	public void writeRawControlMessage(byte[] message) throws IOException, IllegalArgumentException{
 		if(outputStream == null || message == null){
 			return;
 		}else{
 			if(message.length < 2)
 				throw new IllegalArgumentException("Message length is less than two.");
 			synchronized (outputStream) {
 				outputStream.write(message, 0, 2);
 				outputStream.flush();
 			}
 		}
 	}
 	/**
 	 * <p>Encodes a given {@link DecodedControlAction} into a two byte array.</p>
 	 * 
 	 * @param action the action to encode.
 	 * @return The encoded action. Null if said action is null.
 	 */
 	public byte[] encodeControlAction(DecodedControlAction action){
 		if(action == null){
 			return null;
 		}else{
 			byte[] message = {0x00, 0x00};
 			switch(action.action){
 			case MOVE_BACKWARDS:
 				message[0] |= DIRECTION;
 				break;
 			case MOVE_FORWARD:
 				message[0] &= MOVE_BACKWARD;
 				break;
 			case RECENTER:
 				message[0] |= RECENTER;
 				break;
 			case STOP:
 				message[0] &= STOP_ALL_MOTORS; 
 				break;
 			case USER_1:
 				message[0] |= USER_1;
 				break;
 			case USER_2:
 				message[0] |= USER_2;
 				break;
 			case USER_3:
 				message[0] |= USER_3;
 				break;
 			}
 			switch(action.motor){
 			case MOTOR_A:
 				message[0] |= MOTOR_A;
 				break;
 			case MOTOR_AB:
 				message[0] |= MOTOR_A;
 				message[0] |= MOTOR_B;
 				break;
 			case MOTOR_ABC:
 				message[0] |= MOTOR_A;
 				message[0] |= MOTOR_B;
 				message[0] |= MOTOR_C;
 				break;
 			case MOTOR_AC:
 				message[0] |= MOTOR_A;
 				message[0] |= MOTOR_C;
 				break;
 			case MOTOR_B:
 				message[0] |= MOTOR_B;
 				break;
 			case MOTOR_BC:
 				message[0] |= MOTOR_B;
 				message[0] |= MOTOR_C;
 				break;
 			case MOTOR_C:
 				message[0] |= MOTOR_C;
 				break;
 			}
 			message[1] = (byte)clamp(action.speed, -100, 100);
 			return message;
 		}
 	}
 	/**
 	 * <p>Encodes and writes a {@link DecodedControlAction} into the associated {@link DataOutputStream} if any.</p>
 	 * 
 	 * @param action The action to write.
 	 * @return True if writing the action succeded. False if either the action or the DataOutputStream are null.
 	 * @throws IOException If writing the message fails.
 	 */
 	public boolean writeMessage(final DecodedControlAction action) throws IOException{
 		boolean success = false;
 		if(action != null && outputStream != null){
 			byte[] msg = encodeControlAction(action);
 			writeRawControlMessage(msg);
 			success = true;
 		}
 		return success;
 	}
 	/**
 	 * <p>Changes the input stream associated with this ARControl to the input stream passed as
 	 * parameter. The currently set input stream is closed before replacing it.</p>
 	 * 
 	 * @param inputStream An opened input stream. Can be null.
 	 * @throws IOException If an error happened while closing the previous input stream.
 	 */
 	public void setInputStream(DataInputStream inputStream) throws IOException{
 		if(this.inputStream != null){
 			this.inputStream.close();
 			this.inputStream = null;
 		}
 		this.inputStream = null;
 		this.inputStream = inputStream;
 	}
 	/**
 	 * <p>Attempts to read a 2-byte message and returns it as is.</p>
 	 * 
 	 * <p>Returns null if no {@link DataInputStream} has been set with
 	 * {@link NxtARControlProtocol#setInputStream(DataInputStream)}.</p>
 	 * 
 	 * @return The two bytes read from the associated connection as an array.
 	 * @throws IOException If reading the message fails. It is the same IOException
-	 * as thrown by {@link DataInput#readByte()} if any.
+	 * as thrown by {@link DataInput#readByte()}.
 	 */
 	public byte[] readRawControlMessage() throws IOException{
-		byte[] msg = new byte[2];
+		if(inputStream == null){
-		try{
+			return null;
 		}else{
 			byte[] msg = new byte[2];
 			synchronized (inputStream) {
 				msg[0] = inputStream.readByte();
 				msg[1] = inputStream.readByte();
 			}
-		}catch (IOException io){
+
-			throw io;
+			return msg;
 		}
 		return msg;
 	}
 	/**
 	 * <p>Attempts to read, decode and execute a message, calling the user operation
 	 * listeners if needed.</p>
 	 *
-	 * @param blocking
+	 * @return True if a message could be read, decoded and executed successfully. False otherwise.
-	 * @return
+	 * @throws IOException If reading the message fails. It is the same IOException
 	 * as thrown by {@link DataInput#readByte()} if any.
 	 */
 	public boolean readAndExecuteMessage() throws IOException{
 		boolean success = false;
@@ -137,138 +276,7 @@ public class NxtARControlProtocol {
 			}
 			if(controlAction != null){
-				switch(controlAction.action){
+				success = executeControlAction(controlAction);
 				case MOVE_BACKWARDS:
 					switch(controlAction.motor){
 					case MOTOR_A:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 						break;
 					case MOTOR_AB:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 						break;
 					case MOTOR_ABC:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 						break;
 					case MOTOR_AC:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 						break;
 					case MOTOR_B:
 						controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 						break;
 					case MOTOR_BC:
 						controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 						break;
 					case MOTOR_C:
 						controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 						break;
 					}
 					break;
 				case MOVE_FORWARD:
 					switch(controlAction.motor){
 					case MOTOR_A:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 						break;
 					case MOTOR_AB:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 						break;
 					case MOTOR_ABC:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 						break;
 					case MOTOR_AC:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 						break;
 					case MOTOR_B:
 						controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 						break;
 					case MOTOR_BC:
 						controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 						break;
 					case MOTOR_C:
 						controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 						break;
 					}
 					break;
 				case RECENTER:
 					switch(controlAction.motor){
 					case MOTOR_A:
 						recenterMotor(MotorPort.MOTOR_A);
 						break;
 					case MOTOR_AB:
 						recenterMotor(MotorPort.MOTOR_A);
 						recenterMotor(MotorPort.MOTOR_B);
 						break;
 					case MOTOR_ABC:
 						recenterMotor(MotorPort.MOTOR_A);
 						recenterMotor(MotorPort.MOTOR_B);
 						recenterMotor(MotorPort.MOTOR_C);
 						break;
 					case MOTOR_AC:
 						recenterMotor(MotorPort.MOTOR_A);
 						recenterMotor(MotorPort.MOTOR_C);
 						break;
 					case MOTOR_B:
 						recenterMotor(MotorPort.MOTOR_B);
 						break;
 					case MOTOR_BC:
 						recenterMotor(MotorPort.MOTOR_B);
 						recenterMotor(MotorPort.MOTOR_C);
 						break;
 					case MOTOR_C:
 						recenterMotor(MotorPort.MOTOR_C);
 						break;
 					}
 					break;
 				case STOP:
 					switch(controlAction.motor){
 					case MOTOR_A:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 						break;
 					case MOTOR_AB:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 						break;
 					case MOTOR_ABC:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 						break;
 					case MOTOR_AC:
 						controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 						break;
 					case MOTOR_B:
 						controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 						break;
 					case MOTOR_BC:
 						controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 						controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 						break;
 					case MOTOR_C:
 						controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 						break;
 					}
 					break;
 				case USER_1:
 				case USER_2:
 				case USER_3:
 					notifyListeners(controlAction.action, controlAction.motor, controlAction.speed);
 					success = true;
 					break;
 				}
 			}
 		}
@@ -293,7 +301,7 @@ public class NxtARControlProtocol {
 	 * @return A {@link DecodedControlAction} instance containing the decoded message.
 	 * @throws IllegalArgumentException If the array is null or has less than 2 elements.
 	 */
-	public DecodedControlAction decodeMessage(byte[] message) throws IllegalArgumentException{
+	public DecodedControlAction decodeMessage(final byte[] message) throws IllegalArgumentException{
 		Action action = Action.STOP;
 		Motor motor = Motor.MOTOR_ABC;
 		DecodedControlAction controlAction;
@@ -359,6 +367,161 @@ public class NxtARControlProtocol {
 		return controlAction;
 	}
 	/**
 	 * <p>Executes an already decoded {@link DecodedControlAction}, calling the user operation
 	 * listeners if needed.</p>
 	 * 
 	 * @param controlAction The action to execute.
 	 * @return True if the action could be executed successfully. False otherwise.
 	 * @throws IllegalArgumentException If controlAction is null.
 	 */
 	public boolean executeControlAction(final DecodedControlAction controlAction) throws IllegalArgumentException{
 		boolean success = false;
 		if(controlAction == null){
 			throw new IllegalArgumentException("Control action is null.");
 		}else{
 			switch(controlAction.action){
 			case MOVE_BACKWARDS:
 				switch(controlAction.motor){
 				case MOTOR_A:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 					break;
 				case MOTOR_AB:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 					break;
 				case MOTOR_ABC:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 					break;
 				case MOTOR_AC:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.BACKWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 					break;
 				case MOTOR_B:
 					controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 					break;
 				case MOTOR_BC:
 					controlMotor(MotorPort.MOTOR_B, MotorAction.BACKWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 					break;
 				case MOTOR_C:
 					controlMotor(MotorPort.MOTOR_C, MotorAction.BACKWARD, controlAction.speed);
 					break;
 				}
 				success = true;
 				break;
 			case MOVE_FORWARD:
 				switch(controlAction.motor){
 				case MOTOR_A:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 					break;
 				case MOTOR_AB:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 					break;
 				case MOTOR_ABC:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 					break;
 				case MOTOR_AC:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.FORWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 					break;
 				case MOTOR_B:
 					controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 					break;
 				case MOTOR_BC:
 					controlMotor(MotorPort.MOTOR_B, MotorAction.FORWARD, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 					break;
 				case MOTOR_C:
 					controlMotor(MotorPort.MOTOR_C, MotorAction.FORWARD, controlAction.speed);
 					break;
 				}
 				success = true;
 				break;
 			case RECENTER:
 				switch(controlAction.motor){
 				case MOTOR_A:
 					recenterMotor(MotorPort.MOTOR_A);
 					break;
 				case MOTOR_AB:
 					recenterMotor(MotorPort.MOTOR_A);
 					recenterMotor(MotorPort.MOTOR_B);
 					break;
 				case MOTOR_ABC:
 					recenterMotor(MotorPort.MOTOR_A);
 					recenterMotor(MotorPort.MOTOR_B);
 					recenterMotor(MotorPort.MOTOR_C);
 					break;
 				case MOTOR_AC:
 					recenterMotor(MotorPort.MOTOR_A);
 					recenterMotor(MotorPort.MOTOR_C);
 					break;
 				case MOTOR_B:
 					recenterMotor(MotorPort.MOTOR_B);
 					break;
 				case MOTOR_BC:
 					recenterMotor(MotorPort.MOTOR_B);
 					recenterMotor(MotorPort.MOTOR_C);
 					break;
 				case MOTOR_C:
 					recenterMotor(MotorPort.MOTOR_C);
 					break;
 				}
 				success = true;
 				break;
 			case STOP:
 				switch(controlAction.motor){
 				case MOTOR_A:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 					break;
 				case MOTOR_AB:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 					break;
 				case MOTOR_ABC:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 					break;
 				case MOTOR_AC:
 					controlMotor(MotorPort.MOTOR_A, MotorAction.STOP, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 					break;
 				case MOTOR_B:
 					controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 					break;
 				case MOTOR_BC:
 					controlMotor(MotorPort.MOTOR_B, MotorAction.STOP, controlAction.speed);
 					controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 					break;
 				case MOTOR_C:
 					controlMotor(MotorPort.MOTOR_C, MotorAction.STOP, controlAction.speed);
 					break;
 				}
 				success = true;
 				break;
 			case USER_1:
 			case USER_2:
 			case USER_3:
 				notifyListeners(controlAction.action, controlAction.motor, controlAction.speed);
 				success = true;
 				break;
 			}
 		}
 		return success;
 	}
 	/**
 	 * <p>Adds an {@link UserActionListener} to this object's listeners list calling it's 
 	 * {@link UserActionListener#onListenerRegistered()} method. Adding a listener that
@@ -367,7 +530,7 @@ public class NxtARControlProtocol {
 	 * @param listener The listener to add.
 	 * @throws IllegalArgumentException If listener is null.
 	 */
-	public synchronized void registerUserActionListener(UserActionListener listener) throws IllegalArgumentException{
+	public synchronized void registerUserActionListener(final UserActionListener listener) throws IllegalArgumentException{
 		if(listener == null)
 			throw new IllegalArgumentException("Listener is null.");
@@ -385,7 +548,7 @@ public class NxtARControlProtocol {
 	 * @param listener The listener to remove.
 	 * @throws IllegalArgumentException If listener is null.
 	 */
-	public synchronized void removeUserActionListener(UserActionListener listener) throws IllegalArgumentException{
+	public synchronized void removeUserActionListener(final UserActionListener listener) throws IllegalArgumentException{
 		if(listener == null)
 			throw new IllegalArgumentException("Listener is null.");
@@ -402,7 +565,7 @@ public class NxtARControlProtocol {
 	 * 
 	 * @param userAction The action that triggered the notification.
 	 */
-	private void notifyListeners(Action userAction, Motor motorFlag, int speed){
+	private void notifyListeners(final Action userAction, final Motor motorFlag, final int speed){
 		switch(userAction){
 		case USER_1:
 			for(UserActionListener listener : userActionListeners)
@@ -512,4 +675,8 @@ public class NxtARControlProtocol {
 			break;
 		}
 	}
 	private int clamp(int i, int min, int max){
 		return i > max ? max : (i < min ? min : i);
 	}
 }
--- a/src/ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.java
+++ b/src/ve/ucv/ciens/icaro/libnxtarcontrol/UserActionListener.java
@@ -24,7 +24,7 @@ import ve.ucv.ciens.icaro.libnxtarcontrol.DecodedControlAction.Motor;
 */
 public interface UserActionListener {
 	/**
-	 * <p>Executes a set of instructions just after the listener has been registered with an {@link NxtARControlProtocol instance}.</p>
+	 * <p>Executes a set of instructions just after the listener has been registered with an {@link NxtARControlProtocol} instance.</p>
 	 */
 	public void onListenerRegistered();
@@ -44,7 +44,7 @@ public interface UserActionListener {
 	public void onUserAction3(Motor motorFlag, int speed);
 	/**
-	 * <p>Executes a set of instructions just after the listener has been removed from an {@link NxtARControlProtocol instance}.</p>
+	 * <p>Executes a set of instructions just after the listener has been removed from an {@link NxtARControlProtocol} instance.</p>
 	 */
 	public void onListenerRemoved();
 }
Author	SHA1	Message	Date
Miguel Angel Astor Romero	870289d1d6	Updated javadocs for the new GH pages style.	2018-10-01 16:21:25 -04:00
Miguel Angel Astor Romero	c30f559e4b	Merge branch 'develop'	2015-02-05 15:29:03 -04:30
Miguel Angel Astor Romero	3367c8b54a	Added methods to encode and write messages to an output stream.	2015-01-12 14:22:35 -04:30
Miguel Angel Astor Romero	79d59d43a7	Merge branch 'develop'	2014-12-18 11:55:28 -04:30
Miguel Angel Astor Romero	a21b57a9c4	Added an executeMessage function.	2014-12-18 11:54:55 -04:30
Miguel Angel Astor Romero	5dbdc29c9e	Merge branch 'develop'	2014-12-16 21:00:28 -04:30
Miguel Angel Astor Romero	4dc1452dac	Fixed some missing assignments and javadoc.	2014-12-16 21:00:01 -04:30