@Override
public void handleRobotChangedState(
Robot robot, RobotChangedStateListener.RobotChangedStateNotificationType type) {
switch (type) {
case Online:
{
view.setCurrentCondition("Online");
// If robot uses Bluetooth LE, Developer Mode can be turned on.
// This turns off DOS protection. This generally isn't required.
if (robot instanceof RobotLE) {
((RobotLE) robot).setDeveloperMode(true);
}
// Save the robot as a ConvenienceRobot for additional utility methods
mRobot = new ConvenienceRobot(robot);
mRobot.enableCollisions(true); // starts collision detection
long sensorFlag =
SensorFlag.VELOCITY.longValue()
| SensorFlag.LOCATOR
.longValue(); // use OR bitwise operator to enable velocity and position
mRobot.enableSensors(
sensorFlag,
SensorControl.StreamingRate
.STREAMING_RATE10); // enable the sensors using the streaming rate
mRobot.addResponseListener(thread); // add the thread to respond to the options
thread.setmRobot(mRobot); // give the robot to the thread
thread.setRunning(true); // start the thread
thread.start(); // start the AI
view.repaint(); // update the UI
break;
}
case Connected:
{ // update the view for each condition
view.setCurrentCondition("Connected");
view.repaint();
break;
}
case Connecting:
{
view.setCurrentCondition("Connecting");
view.repaint();
break;
}
case Disconnected:
{
view.setCurrentCondition("Disconnected");
view.repaint();
break;
}
case FailedConnect:
{
view.setCurrentCondition("Failed Connect");
view.repaint();
break;
}
}
}
// Set the robot to a default 'clean' state between running macros
private void setRobotToDefaultState() {
if (mRobot == null) return;
mRobot.sendCommand(new AbortMacroCommand());
mRobot.setLed(1.0f, 1.0f, 1.0f);
mRobot.enableStabilization(true);
mRobot.setBackLedBrightness(0.0f);
mRobot.stop();
}
// 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();
}
// Fade the robot LED between three colors in a loop
private void runColorMacro() {
if (mRobot == null) return;
setRobotToDefaultState();
MacroObject macro = new MacroObject();
// Loop as many times as the loop seekbar value
macro.addCommand(new LoopStart(mLoopsSeekBar.getProgress()));
// Fade to cyan. Duration of the fade is set to the value of the delay seekbar
macro.addCommand(new Fade(0, 255, 255, mDelaySeekBar.getProgress()));
// Set a delay so that the next command isn't processed until the previous one is done
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// Fade to magenta. Duration of the fade is set to the value of the delay seekbar
macro.addCommand(new Fade(255, 0, 255, mDelaySeekBar.getProgress()));
// Set a delay so that the next command isn't processed until the previous one is done
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// Fade to yellow. Duration of the fade is set to the value of the delay seekbar
macro.addCommand(new Fade(255, 255, 0, mDelaySeekBar.getProgress()));
// Set a delay so that the next command isn't processed until the previous one is done
macro.addCommand(new Delay(mDelaySeekBar.getProgress()));
// End the current loop and go back to LoopStart if more iterations expected
macro.addCommand(new LoopEnd());
// Send the macro to the robot and play
macro.setMode(MacroObject.MacroObjectMode.Normal);
mRobot.playMacro(macro);
}
protected void onStop() {
// If the DiscoveryAgent is in discovery mode, stop it.
if (DualStackDiscoveryAgent.getInstance().isDiscovering()) {
DualStackDiscoveryAgent.getInstance().stopDiscovery();
}
// If a robot is connected to the device, disconnect it
if (mRobot != null) {
mRobot.disconnect();
mRobot = null;
}
super.onStop();
thread.setRunning(false);
}
// 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();
}