// Flip the robot forward and backwards while changing the LED color
private void runVibrateMacro() {
if (mRobot == null) return;
setRobotToDefaultState();
MacroObject macro = new MacroObject();
// Stabilization must be turned off before you can issue motor commands
macro.addCommand(new Stabilization(false, 0));
macro.addCommand(new LoopStart(mLoopsSeekBar.getProgress()));
// Change the LED to red
macro.addCommand(new RGB(255, 0, 0, 0));
// Run the robot's motors backwards
macro.addCommand(
new RawMotor(RawMotor.DriveMode.REVERSE, 255, RawMotor.DriveMode.REVERSE, 255, 100));
macro.addCommand(new Delay(100));
// Change the LED to green
macro.addCommand(new RGB(0, 255, 0, 0));
// Run the robot's motors forward
macro.addCommand(
new RawMotor(RawMotor.DriveMode.FORWARD, 255, RawMotor.DriveMode.FORWARD, 255, 100));
macro.addCommand(new Delay(100));
macro.addCommand(new LoopEnd());
// Turn stabilization back on
macro.addCommand(new Stabilization(true, 0));
// Send the macro to the robot and play
macro.setMode(MacroObject.MacroObjectMode.Normal);
macro.setRobot(mRobot.getRobot());
macro.playMacro();
}
// Drive the robot in a figure 8 formation
private void runFigureEightMacro() {
if (mRobot == null) return;
setRobotToDefaultState();
float speed = mSpeedSeekBar.getProgress() * 0.01f;
MacroObject macro = new MacroObject();
macro.addCommand(new Roll(speed, 0, 1000));
macro.addCommand(new LoopStart(mLoopsSeekBar.getProgress()));
// Pivot
macro.addCommand(new RotateOverTime(360, mDelaySeekBar.getProgress()));
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// Pivot
macro.addCommand(new RotateOverTime(-360, mDelaySeekBar.getProgress()));
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
macro.addCommand(new LoopEnd());
// Stop
macro.addCommand(new Roll(0.0f, 0, 255));
// Send the macro to the robot and play
macro.setMode(MacroObject.MacroObjectMode.Normal);
macro.setRobot(mRobot.getRobot());
macro.playMacro();
}
// Move the robot in a pattern based on the speed and loop seekbar values
private void runShapeMacro() {
// If the looping value is set to null or the robot isn't connected, return
if (mRobot == null || mLoopsSeekBar.getProgress() == 0) return;
setRobotToDefaultState();
MacroObject macro = new MacroObject();
float speed = mSpeedSeekBar.getProgress() * 0.01f;
// Set the robot LED color to blue
macro.addCommand(new RGB(0, 0, 255, 255));
// Loop through driving in various directions
for (int i = 0; i < mLoopsSeekBar.getProgress(); i++) {
macro.addCommand(new Roll(speed, i * (360 / mLoopsSeekBar.getProgress()), 0));
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
macro.addCommand(new Roll(0.0f, i * (260 / mLoopsSeekBar.getProgress()), 255));
}
// Stop the robot
macro.addCommand(new Roll(0.0f, 0, 255));
// Send the macro to the robot and play
macro.setMode(MacroObject.MacroObjectMode.Normal);
macro.setRobot(mRobot.getRobot());
macro.playMacro();
}
// Move the robot in the shape of a square with each edge being a new color
private void runSquareMacro() {
if (mRobot == null) return;
setRobotToDefaultState();
float speed = mSpeedSeekBar.getProgress() * 0.01f;
MacroObject macro = new MacroObject();
// Set the robot LED to green
macro.addCommand(new RGB(0, 255, 0, 255));
// Move the robot forward
macro.addCommand(new Roll(speed, 0, 0));
// Wait until the robot should stop moving
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// Stop
macro.addCommand(new Roll(0.0f, 0, 255));
// Set the robot LED to blue
macro.addCommand(new RGB(0, 0, 255, 255));
// Move the robot to the right
macro.addCommand(new Roll(speed, 90, 0));
// Wait until the robot should stop moving
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// Stop
macro.addCommand(new Roll(0.0f, 90, 255));
// Set the robot LED to yellow
macro.addCommand(new RGB(255, 255, 0, 255));
// Move the robot backwards
macro.addCommand(new Roll(speed, 180, 0));
// Wait until the robot should stop moving
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// Stop
macro.addCommand(new Roll(0.0f, 180, 255));
// Set the robot LED to red
macro.addCommand(new RGB(255, 0, 0, 255));
// Move the robot to the left
macro.addCommand(new Roll(255, 270, 0));
// Wait until the robot should stop moving
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// Stop
macro.addCommand(new Roll(0.0f, 270, 255));
// Send the macro to the robot and play
macro.setMode(MacroObject.MacroObjectMode.Normal);
macro.setRobot(mRobot.getRobot());
macro.playMacro();
}
// Spin the robot in circles
private void runSpinMacro() {
setRobotToDefaultState();
float speed = mSpeedSeekBar.getProgress() * 0.01f;
MacroObject macro = new MacroObject();
// Set the back LED to full brightness
macro.addCommand(new BackLED(255, 0));
// Loop through rotating the robot
macro.addCommand(new LoopStart(mLoopsSeekBar.getProgress()));
macro.addCommand(new RotateOverTime(360, (int) (500 * speed)));
macro.addCommand(new Delay((int) (500 * speed)));
macro.addCommand(new LoopEnd());
// Dim the back LED
macro.addCommand(new BackLED(0, 0));
// Send the macro to the robot and play
macro.setMode(MacroObject.MacroObjectMode.Normal);
macro.setRobot(mRobot.getRobot());
macro.playMacro();
}