/** The implemented key-pressed event, for sending commands to the robot. */
@Override
public void keyPressed(KeyEvent e) {
int code = e.getKeyCode();
System.out.println(code);
// Send a command depending on the key code
if (code != KeyCode.SPACE_BAR && code != KeyCode.G && code != KeyCode.O && lastCode == code) {
power += 10;
} else {
power = 10;
}
lastCode = code;
switch (code) {
// Left Arrow: Turn Left
case KeyCode.LEFT_ARROW:
tcpClient.sendCommand((byte) 3, power);
break;
// Up Arrow: Move Forward
case KeyCode.UP_ARROW:
tcpClient.sendCommand((byte) 1, power);
break;
// Right Arrow: Turn Right
case KeyCode.RIGHT_ARROW:
tcpClient.sendCommand((byte) 4, power);
break;
// Down Arrow: Move Backward
case KeyCode.DOWN_ARROW:
tcpClient.sendCommand((byte) 2, power);
break;
// s: Stop
case KeyCode.S:
tcpClient.sendCommand((byte) 5, power);
break;
// Space bar: Kick
case KeyCode.SPACE_BAR:
tcpClient.sendCommand((byte) 6, 5000);
break;
// g: Grab
case KeyCode.G:
tcpClient.sendCommand((byte) 7, 0);
break;
case KeyCode.O:
tcpClient.sendCommand((byte) 9, 0);
break;
}
}
/**
* Begins listening to key commands and sending robot data.
*
* @throws IOException
*/
public void run() throws IOException {
try {
tcpClient = new TCPClient(robotID);
tcpClient.connect();
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
System.out.println("Couldn't connect to the relay.");
return;
}
JFrame frame = new JFrame("control");
frame.setBounds(500, 500, 200, 50);
frame.setAlwaysOnTop(true);
JLabel label = new JLabel();
frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
label.setText("Select and Pess a Key");
frame.add(label);
frame.addKeyListener(this);
frame.setVisible(true);
}
