Android Open Source - RoboDroid Motor Application

From Project

Back to project page RoboDroid.

License

The source code is released under:

Apache License

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Java Source Code

package ch.quantasy.remoteControl;
//w w  w .j a v a 2s . c o m
import android.util.Log;
import ch.quantasy.tinkerforge.tinker.agent.implementation.TinkerforgeStackAgent;
import ch.quantasy.tinkerforge.tinker.application.implementation.AbstractTinkerforgeApplication;
import ch.quantasy.tinkerforge.tinker.core.implementation.TinkerforgeDevice;

import com.tinkerforge.BrickDC;
import com.tinkerforge.Device;
import com.tinkerforge.NotConnectedException;
import com.tinkerforge.TimeoutException;

public class MotorApplication extends AbstractTinkerforgeApplication {
  public static final MotorApplication INSTANCE = new MotorApplication();

  private BrickDC dc1;
  private BrickDC dc2;

  private MotorApplication() {
    // private
  }

  @Override
  public void deviceConnected(TinkerforgeStackAgent tinkerforgeStackAgent,
      Device device) {
    if (TinkerforgeDevice.getDevice(device) == TinkerforgeDevice.DC)
      if (dc1 == null) {
        dc1 = (BrickDC) device;
        try {
          dc1.enable();
          dc1.setAcceleration(10000);
        } catch (TimeoutException | NotConnectedException e) {
          // TODO Auto-generated catch block
          e.printStackTrace();
        }
      } else if (dc2 == null) {
        dc2 = (BrickDC) device;
        try {
          dc2.enable();
          dc2.setAcceleration(10000);
        } catch (TimeoutException | NotConnectedException e) {
          // TODO Auto-generated catch block
          e.printStackTrace();
        }
      }

  }

  @Override
  public void deviceDisconnected(TinkerforgeStackAgent tinkerforgeStackAgent,
      Device device) {
    if (TinkerforgeDevice.areEqual(dc1, device))
      dc1 = null;
    if (TinkerforgeDevice.areEqual(dc2, device))
      dc2 = null;

  }

  public void fullStop() {
    try {
      if (dc1 != null)
        dc1.fullBrake();
      if (dc2 != null)
        dc2.fullBrake();
      Log.d("motor", "Full Stop!");
    } catch (TimeoutException | NotConnectedException e) {
      // TODO Auto-generated catch block
      e.printStackTrace();
    }

  }

  public void setVelocityDC1(int velocity) {
    if (dc1 == null)
      return;
    try {
      dc1.setVelocity((short) velocity);
      Log.d("motor", "Velocity DC1: " + velocity);
    } catch (TimeoutException | NotConnectedException e) {
      // TODO Auto-generated catch block
      e.printStackTrace();
    }
  }

  public void setVelocityDC2(int velocity) {
    if (dc2 == null)
      return;
    try {
      dc2.setVelocity((short) velocity);
      Log.d("motor", "Velocity DC2: " + velocity);
    } catch (TimeoutException | NotConnectedException e) {
      // TODO Auto-generated catch block
      e.printStackTrace();
    }
  }

  @Override
  public boolean equals(Object obj) {
    return this == obj;
  }

  @Override
  public int hashCode() {
    // TODO Auto-generated method stub
    return 0;
  }

}

Java Source Code List