/** センサーを停止する. */
public void stopSensor() {
if (!mIsSensorStarted) {
return;
}
mIsSensorStarted = false;
mDevice.getSensorControl().removeSensorListener(this);
mDevice.getSensorControl().stopStreaming();
mSensorListener = null;
}
public void setSphero(float heading, float speed, int milliSeconds) {
final float direction = heading;
final int time = milliSeconds;
final float velocity = speed;
mRobot.drive(direction, velocity);
try {
Thread.sleep(time);
} catch (InterruptedException e) {
e.printStackTrace();
// handle the exception...
// For example consider calling Thread.currentThread().interrupt(); here.
}
}
/** 衝突イベントの検知を終了する. */
public void stopCollision() {
if (!mIsCollisionStarted) {
return;
}
mIsCollisionStarted = false;
mCollisionListener = null;
mDevice.getCollisionControl().removeCollisionListener(this);
mDevice.getCollisionControl().stopDetection();
if (BuildConfig.DEBUG) {
Log.d("", "stop collision");
}
}
/**
* 衝突の監視を開始する.
*
* @param listener リスナー
*/
public void startCollistion(final DeviceCollisionListener listener) {
if (mIsCollisionStarted) {
return;
}
if (BuildConfig.DEBUG) {
Log.d("", "start collision");
}
mIsCollisionStarted = true;
mCollisionListener = listener;
mDevice.getCollisionControl().addCollisionListener(this);
mDevice.getCollisionControl().startDetection(90, 90, 130, 130, 100);
}
/**
* センサーを開始する.
*
* @param listener リスナー
*/
public void startSensor(final DeviceSensorListener listener) {
if (mIsSensorStarted) {
return;
}
mIsSensorStarted = true;
mSensorListener = listener;
SensorControl sc = mDevice.getSensorControl();
sc.setRate(SENSOR_RATE);
sc.enableStreaming(true);
sc.addSensorListener(
this,
SensorFlag.ACCELEROMETER_NORMALIZED,
SensorFlag.GYRO_NORMALIZED,
SensorFlag.ATTITUDE,
SensorFlag.QUATERNION,
SensorFlag.LOCATOR);
ConfigureLocatorCommand.sendCommand(
mDevice, ConfigureLocatorCommand.ROTATE_WITH_CALIBRATE_FLAG_OFF, 0, 0, 0);
mPreSensorTimestamp = System.currentTimeMillis();
}
/**
* When the user clicks "STOP", stop the Robot.
*
* @param v The View that had been clicked
*/
public void onStopClick(View v) {
if (mRobot != null) {
// Stop robot
mRobot.stop();
}
}
/**
* 色を設定する.
*
* @param r 赤
* @param g 緑
* @param b 青
*/
public void setColor(final int r, final int g, final int b) {
mDevice.setColor(r, g, b);
// SpheroのgetColorでは正しく現在の色がとれない(消灯しているのに0xff000000以外が返ってくる)ので
// 自前で色を管理する。
mColor = (0xff000000 | (r << 16) | (g << 8) | b);
}