public void run() {
int count = 0;
while (count < 5) {
display(value);
Service.sleep(delay);
display(" ");
Service.sleep(delay);
++count;
}
if (leaveOn) {
display(value);
}
}
public void startService() {
super.startService();
try {
serial = getSerial();
// setting callback / message route
serial.addListener("publishByte", getName(), "byteReceived");
serial.startService();
if (model == null) {
model = MODEL_SICK_LMS200;
}
// start LIDAR hardware initialization here
// data coming back from the hardware will be in byteRecieved
if (MODEL_SICK_LMS200.equals(model)) {
serial.write(new byte[] {1, 38, 32, 43});
}
state = STATE_INITIALIZATION_STAGE_1;
} catch (Exception e) {
error(e.getMessage());
}
}
public static void main(String[] args) throws ClassNotFoundException {
// Logger root = (Logger)LoggerFactory.getLogger(Logger.ROOT_LOGGER_NAME);
Logging logging = LoggingFactory.getInstance();
logging.configure();
logging.setLevel(Level.INFO);
// LoggingFactory.getInstance().setLevel(Level.INFO);
int test = 35;
log.info("{}", test);
log.debug("hello");
log.trace("trace");
log.error("error");
log.info("info");
PID pid = new PID("pid");
pid.startService();
pid.setPID(2.0, 5.0, 1.0);
pid.setControllerDirection(DIRECTION_DIRECT);
pid.setMode(MODE_AUTOMATIC);
pid.setOutputRange(0, 255);
pid.setSetpoint(100);
pid.setSampleTime(40);
GUIService gui = new GUIService("gui");
gui.startService();
for (int i = 0; i < 200; ++i) {
pid.setInput(i);
Service.sleep(30);
if (pid.compute()) {
log.info(String.format("%d %f", i, pid.getOutput()));
} else {
log.warn("not ready");
}
}
}
public void addPoseListener(Service service) {
addListener("publishPose", service.getName(), "onPose", Pose.class);
}
public void addOrientationDataListener(Service service) {
addListener("publishOrientationData", service.getName(), "onOrientationData");
}
@Override
public void startService() {
super.startService();
arduino.startService();
attach(arduino);
}
public void releaseService() {
detach();
super.releaseService();
}
