private void setSpeedReal(float speedLeft, float speedRight) {
Log.i(LOG_TAG, "Setting speeds to " + speedLeft + ", " + speedRight);
this.speedLeft = speedLeft;
this.speedRight = speedRight;
try {
if (gameControl != null && gameControl.hasRobotControl()) {
gameControl.setLeftMotorSpeed(speedLeft);
gameControl.setRightMotorSpeed(speedRight);
lastCommandTime = System.currentTimeMillis();
}
} catch (RemoteException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
@Override
public void onServiceConnected(ComponentName name, IBinder serviceBinder) {
gameControl = IGameControl.Stub.asInterface(serviceBinder);
try {
gameControl.registerCallback(serviceCallback);
} catch (RemoteException e1) {
// TODO Auto-generated catch block
e1.printStackTrace();
}
// Setup driving
try {
gameControl.prepareRobots();
} catch (RemoteException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
@Override
public void onServiceDisconnected(ComponentName name) {
try {
gameControl.unregisterCallback(serviceCallback);
} catch (RemoteException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
gameControl = null;
}
private void setFullStop(boolean fullStop) {
// Stop the motors
Log.i(LOG_TAG, "Fullstop: " + fullStop);
try {
if (gameControl != null && gameControl.hasRobotControl()) {
if (fullStop && !gameControl.isAtFullStop()) {
gameControl.setFullStop(true);
return;
}
if (!fullStop && gameControl.isAtFullStop()) {
gameControl.setFullStop(false);
return;
}
}
} catch (RemoteException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
// Add this to the SeekBars' change listener.
}
@Override
protected void onPause() {
super.onStop();
if (DEBUG) {
Log.d(LOG_TAG, "onStop()");
}
if (gameControl != null) {
try {
gameControl.shutdownRobots();
} catch (RemoteException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
unbindService(serviceConnection);
}
// Stop preventing the screen from sleeping
screenWakeLock.release();
screenWakeLock = null;
}