Subversion Repositories Code-Repo

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;
        }
}