public void initIR() throws ConnectionLostException, InterruptedException {
float baseVal = 0f, baseVolt = 0f;
for (int i = 0; i < iRSensors.iSamples; i++) {
baseVal += iRSensors.input.read();
baseVolt += iRSensors.input.getVoltage();
// Thread.sleep(5);
}
iRSensors.initialize(baseVal / iRSensors.iSamples, baseVolt / iRSensors.iSamples);
/*
Log.d("INIT IR", "Base Val: " + baseVal/iRSensors.iSamples +
", base Volt: " + baseVolt/iRSensors.iSamples);*/
}
/**
* Called every time a connection with IOIO has been established. Typically used to open pins.
*
* @throws ConnectionLostException When IOIO connection is lost.
* @see ioio.lib.util.IOIOLooper
*/
@Override
protected void setup() throws ConnectionLostException, InterruptedException {
showVersions(ioio_, "IOIO connected!");
led_ = ioio_.openDigitalOutput(0, true);
iRSensors.input = ioio_.openAnalogInput(iRSensors.pin);
initIR();
try {
pwm =
ioio_.openPwmOutput(
35, 100); // new DigitalOutput.Spec(35, DigitalOutput.Spec.Mode.OPEN_DRAIN)
} catch (ConnectionLostException e) {
Log.d("Connection Lost", "IO Connection Lost");
}
}
/**
* Called repetitively while the IOIO is connected.
*
* @throws ConnectionLostException When IOIO connection is lost.
* @throws InterruptedException When the IOIO thread has been interrupted.
* @see ioio.lib.util.IOIOLooper#loop()
*/
@Override
public void loop() throws ConnectionLostException, InterruptedException {
int re = r.nextInt(100 - 0); // random number between 0 and 100 for rotation enable
int ra = r.nextInt(3 - 0); // random number between 0 and 100 for rotation angle
if (actionEnable) {
if (re <= 1) { // % chance that the head will rotate
switch (ra) {
case 0:
newPos = 1000;
break; // limit 600
case 1:
newPos = 1550;
break;
case 2:
newPos = 2000;
break; // limit 2450
default:
break;
}
if (newPos != currentPos) {
led_.write(true);
pwm.setPulseWidth(newPos);
currentPos = newPos;
Log.d("ROTATE", "Moving to position: " + newPos + "...");
Thread.sleep(1000);
Log.d("ROTATE", "At position: " + newPos);
initIR();
}
} else {
float measVal = iRSensors.input.read();
float measVolt = iRSensors.input.getVoltage();
if (!action.TTSE.t1.isSpeaking()) {
if (iRSensors.motionDetect(measVal, measVolt)) {
led_.write(false);
Log.d(
"MOTION",
"Detected motion!"
+ " BaseVal: "
+ iRSensors.baseValue
+ "/"
+ measVal
+ ", BaseVolt: "
+ iRSensors.baseVolt
+ "/"
+ measVolt);
action.executeGreeting(); // execute a random greeting
action.executeRandActivity();
/*
if(action.getCurrentAction() == ActionEngine.ACTION_PAGE ||
action.getCurrentAction() == ActionEngine.ACTION_QUIZ){
pageQueue.add(action.getWebPage());
interactionTimer.run();
}
*/
switch (action.getCurrentAction()) {
case ActionEngine.ACTION_PAGE:
pageQueue.add(action.getWebPage());
interactionTimer.run();
break;
case ActionEngine.ACTION_QUIZ:
pageQueue.add(action.getQuiz());
interactionTimer.run();
break;
default:
break;
}
/*
int rn = r.nextInt(2-0);
if(rn == 1) action.executeQuiz();
else action.executePage();
*/
// action.executeMakeTweet("IR sensor voltage: " + measVolt);
// action.executeTweetSearch(true);
// action.executeTimelineSearch(true);
// action.executeRSS(true);
Log.d("IR SENSORS", "reinitializing...");
initIR();
} else {
led_.write(true);
}
} else {
led_.write(true);
}
}
}
Thread.sleep(100);
}