/**
* Initializes the Create by sending the start command over the serial cable from the Qwerk to the
* Create. Also reads sensor data from the Create to determine the initial configuration of the
* robot
*/
public void initialize() {
// Create a serial service
final SerialIOService serialIOService = getQwerkController().getSerialIOService();
if (serialIOService != null) {
try {
// Close the serial port if for some reason an earlier program left it open
serialIOService.getSerialPort(QwerkSerialPortDevice.DEV_TTY_AM1.getName()).close();
// Open the serial port with our configuration values (baud = 57600, 8n1, no flow control)
serialIOService.getSerialPort(QwerkSerialPortDevice.DEV_TTY_AM1.getName()).open(config);
System.out.println("Serial port opened.");
// Send the start command and change mode to 'safe'
byte[] data = new byte[2];
data[0] = (byte) 128; // start command
data[1] = (byte) 131; // change mode to 'safe' mode
// Write the data to the Create through the serial port
serialIOService.getSerialPort(QwerkSerialPortDevice.DEV_TTY_AM1.getName()).write(data);
System.out.println(dateFormatter.format(new Date()) + "Data written successfully.");
} catch (SerialIOException e) {
final String msg = "SerialIOException while opening the serial port";
System.out.println(dateFormatter.format(new Date()) + msg + e);
}
} else {
System.out.println(dateFormatter.format(new Date()) + "SerialIOService is null!");
}
// Update the sensors on initialization - this reads in values for all of the sensor variables
// defined at the start of this class
updateSensors();
}
/** @return The distance in millimeters the right wheel of the Create has traveled */
public double rightWheelDistance() {
updateSensors();
return rightWheelDistance;
}
/** @return The distance in millimeters the left wheel of the Create has traveled */
public double leftWheelDistance() {
updateSensors();
return leftWheelDistance;
}
/** @return The angle in degrees that the Create has traveled */
public int angle() {
updateSensors();
return angle;
}
/** @return The distance in millimeters that the Create has traveled */
public int distance() {
updateSensors();
return distance;
}
/** @return True if the advance button on the Create is pressed, false otherwise */
public boolean advanceButtonPressed() {
updateSensors();
return advanceButtonPressed;
}
/** @return True if the left bumper is depressed, false otherwise */
public boolean bumpLeft() {
updateSensors();
return bumpLeft;
}
/** @return The charge remaining in the battery pack in milliAmp-hours. */
public int robotChargeRemaining() {
updateSensors();
return batteryCharge;
}
/** @return True if a wall is seen on the right side of the robot, false otherwise */
public boolean wallSeen() {
updateSensors();
return wallSeen;
}
/** @return True if the front right cliff sensor sees a cliff, false otherwise */
public boolean cliffFrontRight() {
updateSensors();
return cliffFrontRight;
}
/** @return True if the front left cliff sensor sees a cliff, false otherwise */
public boolean cliffFrontLeft() {
updateSensors();
return cliffFrontLeft;
}
/** @return True if the caster is dropped, false otherwise */
public boolean wheelDropCaster() {
updateSensors();
return wheelDropCaster;
}
/** @return True if the right wheel is dropped, false otherwise */
public boolean wheelDropRight() {
updateSensors();
return wheelDropRight;
}
/** @return True if the left wheel is dropped, false otherwise */
public boolean wheelDropLeft() {
updateSensors();
return wheelDropLeft;
}
/** @return True if the right bumper is depressed, false otherwise */
public boolean bumpRight() {
updateSensors();
return bumpRight;
}
/** @return The voltage of the Create's battery pack in millivolts */
public int robotVoltage() {
updateSensors();
return voltage;
}
/**
* @return The current draw on the Create's battery pack in milliAmps - negative numbers imply
* current flowing out of the battery
*/
public int robotCurrent() {
updateSensors();
return current;
}
/** @return True if an iRobot virtual wall is seen by the central IR sensor, false otherwise */
public boolean virtualWallSeen() {
updateSensors();
return virtualWallSeen;
}
/** @return True if the play button on the Create is pressed, false otherwise */
public boolean playButtonPressed() {
updateSensors();
return playButtonPressed;
}
/**
* Cause the Create to rotate by the number of degrees specified by <code>travelAngle</code>
*
* @param travelAngle Specifies the number of degrees to rotate - positive values cause counter
* clockwise rotation, negative values cause clockwise rotation
*/
public void moveAngle(int travelAngle) {
int leftMotor = 0;
int rightMotor = 0;
if (travelAngle > 0) {
leftMotor = 65406;
rightMotor = 130;
} else if (travelAngle < 0) {
leftMotor = 130;
rightMotor = 65406;
}
// Get a serial service
final SerialIOService serialIOService = getQwerkController().getSerialIOService();
if (serialIOService != null) {
try {
// Convert negative distances to values over 32767 to send the data in two's complement form
int sleepTime;
if (travelAngle < 0) {
sleepTime = -travelAngle * 20;
travelAngle += 65536;
} else {
sleepTime = travelAngle * 20;
}
updateSensors();
// Create the movement packet
byte[] data = new byte[15];
data[0] = (byte) 131; // Change mode to 'safe'
data[1] = (byte) 145; // Send the command for driving the wheels
data[2] = (byte) (rightMotor / 256); // Send the high 8-bits for right wheel speed
data[3] = (byte) (rightMotor % 256); // Send the low 8-bits for right wheel speed
data[4] = (byte) (leftMotor / 256);
data[5] = (byte) (leftMotor % 256);
data[6] = (byte) 157; // Change mode to 'safe'
data[7] = (byte) (travelAngle / 256); // Send the high 8-bits for travel distance
data[8] = (byte) (travelAngle % 256); // Send the low 8-bits for travel distance
data[9] = (byte) 131; // Change mode to 'safe'
data[10] = (byte) 145; // Send the command for driving the wheels
data[11] = (byte) (0); // Send the high 8-bits for right wheel speed
data[12] = (byte) (0); // Send the low 8-bits for right wheel speed
data[13] = (byte) (0);
data[14] = (byte) (0);
// Write the data to the Create through the Qwerk's serial port
serialIOService.getSerialPort(QwerkSerialPortDevice.DEV_TTY_AM1.getName()).write(data);
System.out.println(dateFormatter.format(new Date()) + "Data written successfully.");
stopMoving();
if (travelAngle < 0) {
travelAngle = -travelAngle;
}
sleepUnlessStop(sleepTime);
updateSensors();
} catch (SerialIOException e) {
final String msg = "SerialIOException while writing to the serial port";
System.out.println(dateFormatter.format(new Date()) + msg);
}
} else {
System.out.println(dateFormatter.format(new Date()) + "SerialIOService is null!");
}
}
