| 0,0 → 1,135 |
|---|
| package IEEERobotics.IOIOAI.VT; |
| |
| import android.content.Context; |
| import android.content.SharedPreferences; |
| import android.graphics.Color; |
| import android.preference.PreferenceManager; |
| import android.view.View; |
| import android.view.View.OnClickListener; |
| import android.widget.Button; |
| import android.widget.LinearLayout; |
| import android.widget.TableRow.LayoutParams; |
| import ioio.lib.api.IOIO; |
| import ioio.lib.api.PwmOutput; |
| import ioio.lib.api.exception.ConnectionLostException; |
| |
| public class MotorControl implements OnClickListener{ |
| private IOIORoboticsActivity _parent; |
| private IOIO _ioio; |
| private Context _appContext; |
| private SharedPreferences _sharedPrefs; |
| private View _debugView; |
| |
| private Button _forward; |
| private Button _back; |
| private Button _left; |
| private Button _right; |
| |
| private PwmOutput leftPWM; |
| private PwmOutput rightPWM; |
| |
| private static int MOTOR_LEFT = 12; |
| private static int MOTOR_RIGHT = 13; |
| |
| private static int TEXT_SIZE = 20; |
| private static int SENSITIVITY = 120; |
| |
| public MotorControl(IOIORoboticsActivity parent) { |
| _parent = parent; |
| _ioio = IOIORoboticsActivity.IOIOInstance_; |
| _appContext = IOIORoboticsActivity.context_; |
| _sharedPrefs = PreferenceManager.getDefaultSharedPreferences(_appContext); |
| |
| createDebugView(); |
| initializeOutputs(); |
| } |
| |
| public void setSensitivity(int sensitivity) { |
| SENSITIVITY = sensitivity; |
| } |
| |
| public void setMotorSpeed() { |
| |
| } |
| |
| private void initializeOutputs() { |
| try { |
| leftPWM = _ioio.openPwmOutput(MOTOR_LEFT, SENSITIVITY); |
| rightPWM = _ioio.openPwmOutput(MOTOR_RIGHT, SENSITIVITY); |
| } catch (ConnectionLostException e) { |
| |
| } |
| } |
| |
| public void disconnect() { |
| leftPWM.close(); |
| rightPWM.close(); |
| } |
| |
| @Override |
| public void onClick(View v) { |
| Button btn = (Button)v; |
| if (btn == _forward) { |
| _parent.logMessage("Front"); |
| } else if (btn == _back) { |
| _parent.logMessage("Back"); |
| } else if (btn == _left) { |
| _parent.logMessage("Left"); |
| } else if (btn == _right) { |
| _parent.logMessage("Right"); |
| } |
| } |
| |
| private void createDebugView() { |
| _forward = new Button(_appContext); |
| _forward.setText("Forwards"); |
| _forward.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT, (float)0.3)); |
| _forward.setBackgroundColor(Color.BLACK); |
| _forward.setTextColor(Color.WHITE); |
| _forward.setTextSize(TEXT_SIZE); |
| _forward.setOnClickListener(this); |
| |
| _back = new Button(_appContext); |
| _back.setText("Backwards"); |
| _back.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT, (float)0.3)); |
| _back.setBackgroundColor(Color.BLACK); |
| _back.setTextColor(Color.WHITE); |
| _back.setTextSize(TEXT_SIZE); |
| _back.setOnClickListener(this); |
| |
| _left = new Button(_appContext); |
| _left.setText("Left"); |
| _left.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT, (float)0.5)); |
| _left.setBackgroundColor(Color.BLACK); |
| _left.setTextColor(Color.WHITE); |
| _left.setTextSize(TEXT_SIZE); |
| _left.setOnClickListener(this); |
| |
| _right = new Button(_appContext); |
| _right.setText("Right"); |
| _right.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT, (float)0.5)); |
| _right.setBackgroundColor(Color.BLACK); |
| _right.setTextColor(Color.WHITE); |
| _right.setTextSize(TEXT_SIZE); |
| _right.setOnClickListener(this); |
| |
| LinearLayout center = new LinearLayout(_appContext); |
| center.setOrientation(LinearLayout.HORIZONTAL); |
| center.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT, (float)0.25)); |
| center.addView(_left); |
| center.addView(_right); |
| |
| LinearLayout root = new LinearLayout(_appContext); |
| root.setOrientation(LinearLayout.VERTICAL); |
| root.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT, (float)1.0)); |
| root.addView(_forward); |
| root.addView(center); |
| root.addView(_back); |
| |
| _debugView = root; |
| } |
| |
| public View getDebugView() { |
| return _debugView; |
| } |
| } |