/**
* Disable controller data streaming for a Robot
*
* @param robot the Robot to stream data from
*/
public void disableControllerStreaming(Robot robot) {
// Turn on stabilization and turn off back LED
StabilizationCommand.sendCommand(robot, true);
BackLEDOutputCommand.sendCommand(robot, 0.0f);
// Disable data streaming and delete profile
SetDataStreamingCommand.sendCommand(robot, 0, 0, 0, 0);
DeviceMessenger.getInstance().removeAsyncDataListener(robot, mDataListener);
}
/**
* Enable controller data streaming with infinite packets
*
* @param robot the Robot to stream data from
* @param divisor Divisor of the maximum sensor sampling rate (400 Hz)
* @param packetFrames Number of samples created on the device before it sends a packet to the
* phone with samples
* @param sensorMask Bitwise selector of data sources to stream
*/
public void enableControllerStreaming(
Robot robot, int divisor, int packetFrames, long sensorMask) {
// Turn off stabilization and turn on back LED
StabilizationCommand.sendCommand(robot, false);
BackLEDOutputCommand.sendCommand(robot, 1.0f);
// Request data streaming
this.setDataStreaming(robot, divisor, packetFrames, sensorMask, 0);
}