public static void main(String args[]) {
Display display = IntelliBrain.getLcdDisplay();
IBB ibb = new IBB();
try {
SerialPort comPort = IntelliBrain.getCom1();
// Serial Parameters
comPort.setSerialPortParams(
38400, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
InputStream inputStream = comPort.getInputStream();
OutputStream outputStream = comPort.getOutputStream();
// clear screen
display.print(0, "");
display.print(1, "");
// test the readLine routine
byte[] buf = new byte[128];
while (true) {
int len = readLine(inputStream, outputStream, display, true, buf, 128);
if (len == 0) continue;
switch (buf[0]) {
case 'B':
ibb.getVersion(outputStream, buf, len);
break;
case 'D':
ibb.setSpeed(outputStream, buf, len);
break;
case 'H':
ibb.sysBeep(outputStream, buf, len);
break;
case 'L':
ibb.setLedState(outputStream, buf, len);
break;
case 'N':
ibb.readProximitySensors(outputStream, buf, len);
break;
case 'O':
ibb.readLightSensors(outputStream, buf, len);
break;
case 'Z':
ibb.motorsOff(outputStream, buf, len);
break;
}
}
} catch (Exception e) {
e.printStackTrace();
}
}
public static void writeCRLF(OutputStream out, String str) {
try {
char[] ary = str.toCharArray();
int len = ary.length;
for (int i = 0; i < len; i++) out.write((int) ary[i]);
out.write('\r'); // CR
out.write('\n'); // LF
} catch (Exception e) {
e.printStackTrace();
}
}