private void setSpeedReal(float speedLeft, float speedRight) {
   Log.i(LOG_TAG, "Setting speeds to " + speedLeft + ", " + speedRight);
   this.speedLeft = speedLeft;
   this.speedRight = speedRight;
   try {
     if (gameControl != null && gameControl.hasRobotControl()) {
       gameControl.setLeftMotorSpeed(speedLeft);
       gameControl.setRightMotorSpeed(speedRight);
       lastCommandTime = System.currentTimeMillis();
     }
   } catch (RemoteException e) {
     // TODO Auto-generated catch block
     e.printStackTrace();
   }
 }
        @Override
        public void onServiceConnected(ComponentName name, IBinder serviceBinder) {
          gameControl = IGameControl.Stub.asInterface(serviceBinder);
          try {
            gameControl.registerCallback(serviceCallback);
          } catch (RemoteException e1) {
            // TODO Auto-generated catch block
            e1.printStackTrace();
          }

          // Setup driving
          try {
            gameControl.prepareRobots();
          } catch (RemoteException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
          }
        }
 @Override
 public void onServiceDisconnected(ComponentName name) {
   try {
     gameControl.unregisterCallback(serviceCallback);
   } catch (RemoteException e) {
     // TODO Auto-generated catch block
     e.printStackTrace();
   }
   gameControl = null;
 }
 private void setFullStop(boolean fullStop) {
   // Stop the motors
   Log.i(LOG_TAG, "Fullstop: " + fullStop);
   try {
     if (gameControl != null && gameControl.hasRobotControl()) {
       if (fullStop && !gameControl.isAtFullStop()) {
         gameControl.setFullStop(true);
         return;
       }
       if (!fullStop && gameControl.isAtFullStop()) {
         gameControl.setFullStop(false);
         return;
       }
     }
   } catch (RemoteException e) {
     // TODO Auto-generated catch block
     e.printStackTrace();
   }
   // Add this to the SeekBars' change listener.
 }
  @Override
  protected void onPause() {
    super.onStop();
    if (DEBUG) {
      Log.d(LOG_TAG, "onStop()");
    }

    if (gameControl != null) {
      try {
        gameControl.shutdownRobots();
      } catch (RemoteException e) {
        // TODO Auto-generated catch block
        e.printStackTrace();
      }

      unbindService(serviceConnection);
    }

    // Stop preventing the screen from sleeping
    screenWakeLock.release();
    screenWakeLock = null;
  }