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 IBB() {
leftPreDist = 40;
rightPreDist = 40;
leftMotor = new ContinuousRotationServo(IntelliBrain.getServo(1), false, 14);
rightMotor = new ContinuousRotationServo(IntelliBrain.getServo(2), true, 14);
statusLED = IntelliBrain.getStatusLed();
faultLED = IntelliBrain.getFaultLed();
buzzer = IntelliBrain.getBuzzer();
try {
leftRangeFinder = new SharpGP2D12(IntelliBrain.getAnalogInput(1), null);
rightRangeFinder = new SharpGP2D12(IntelliBrain.getAnalogInput(2), null);
leftLightSensor = IntelliBrain.getAnalogInput(6);
rightLightSensor = IntelliBrain.getAnalogInput(7);
} catch (Throwable t) {
t.printStackTrace();
}
}