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Fixed the front bumper switches, and cleaned up IOIOTruckManager.java

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IOIOTruckManager.java
changed initialization of mLeftFrontBumper and mRightBumper to pull down
mode onConnected()

removed mStatLedValue and mapped it's setter/getter methods to the
super's getter setter methods
This commit is contained in:
Ricky Barrette
2012-01-28 18:11:49 -05:00
parent 92419a398a
commit 2385361813
3 changed files with 18 additions and 35 deletions
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49
IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckManager.java
View File

@@ -35,7 +35,6 @@ public class IOIOTruckManager extends IOIOManager {
private int mDriveValue; private int mDriveValue;
private int mSteerValue; private int mSteerValue;
private int mShifterValue; private int mShifterValue;
private boolean mStatLedValue;
private TB6612FNGMotorDriver mLeftMotor; private TB6612FNGMotorDriver mLeftMotor;
private TB6612FNGMotorDriver mRightMotor; private TB6612FNGMotorDriver mRightMotor;
private PwmOutput mShifter; private PwmOutput mShifter;
@@ -90,13 +89,6 @@ public class IOIOTruckManager extends IOIOManager {
public synchronized int getSteerValue() { public synchronized int getSteerValue() {
return mSteerValue; return mSteerValue;
} }
/**
* @return the mStatLedValue
*/
public synchronized boolean isStatLedValue() {
return mStatLedValue;
}
/** /**
* Here we register and initialize each port * Here we register and initialize each port
@@ -118,8 +110,8 @@ public class IOIOTruckManager extends IOIOManager {
/* /*
* bumper switches in the front * bumper switches in the front
*/ */
mLeftFrontBumber = ioio.openDigitalInput(IOIOTruckValues.LEFT_FRONT_BUMPER_PORT); mLeftFrontBumber = ioio.openDigitalInput(IOIOTruckValues.LEFT_FRONT_BUMPER_PORT, DigitalInput.Spec.Mode.PULL_DOWN);
mRightFrontBumber = ioio.openDigitalInput(IOIOTruckValues.RIGHT_FRONT_BUMBER_PORT); mRightFrontBumber = ioio.openDigitalInput(IOIOTruckValues.RIGHT_FRONT_BUMBER_PORT, DigitalInput.Spec.Mode.PULL_DOWN);
} }
/** /**
@@ -139,31 +131,29 @@ public class IOIOTruckManager extends IOIOManager {
@Override @Override
public void loop() throws ConnectionLostException, InterruptedException { public void loop() throws ConnectionLostException, InterruptedException {
this.setStatLedEnabled(mStatLedValue); this.setStatLedEnabled(isStatLedEnabled());
mShifter.setPulseWidth(mShifterValue); mShifter.setPulseWidth(mShifterValue);
mMotorDriverStandBy.write(mStatLedValue);
/* /*
* we need to check our sensors before we can make a move. * we need to check our sensors before we can make a move.
*/ */
if(mLeftFrontBumber.read()){ if(mLeftFrontBumber.read()){
//TODO backup, spin right, drive forward //TODO backup, spin right, drive forward
mLeftMotor.setSpeed(0); setStatLedEnabled(false);
mRightMotor.setSpeed(0);
} else if(mRightFrontBumber.read()){ } else if(mRightFrontBumber.read()){
//TODO backup, spin left, drive forward //TODO backup, spin left, drive forward
mLeftMotor.setSpeed(0); setStatLedEnabled(false);
mRightMotor.setSpeed(0); }
} else
mMotorDriverStandBy.write(isStatLedEnabled());
/* /*
* if the autonomous routine is running * if the autonomous routine is running
* then drive the truck * then drive the truck
* else stop the truck * else stop the truck
*/ */
if(mStatLedValue){ if(isStatLedEnabled()){
arcadeDrive(); arcadeDrive();
} }
else{ else{
@@ -175,29 +165,22 @@ public class IOIOTruckManager extends IOIOManager {
/** /**
* @param mDriveValue the mDriveValue to set * @param mDriveValue the mDriveValue to set
*/ */
public synchronized void setDriveValue(int mDriveValue) { public synchronized void setDriveValue(int driveValue) {
this.mDriveValue = mDriveValue; mDriveValue = driveValue;
} }
/** /**
* @param mShifterValue the mShifterValue to set * @param mShifterValue the mShifterValue to set
*/ */
public synchronized void setShifterValue(int mShifterValue) { public synchronized void setShifterValue(int shifterValue) {
this.mShifterValue = mShifterValue; mShifterValue = shifterValue;
}
/**
* @param mStatLedValue the mStatLedValue to set
*/
public synchronized void setStatLedValue(boolean mStatLedValue) {
this.mStatLedValue = mStatLedValue;
} }
/** /**
* @param mSteerValue the mSteerValue to set * @param mSteerValue the mSteerValue to set
*/ */
public synchronized void setSteerValue(int mSteerValue) { public synchronized void setSteerValue(int steerValue) {
this.mSteerValue = mSteerValue; mSteerValue = steerValue;
} }
/** /**

2
IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java
View File

@@ -177,7 +177,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
* @author ricky barrette * @author ricky barrette
*/ */
private void updateGoButton(final boolean isRun) { private void updateGoButton(final boolean isRun) {
mIOIOManager.setStatLedValue(!isRun); mIOIOManager.setStatLedEnabled(!isRun);
runOnUiThread(new Runnable() { runOnUiThread(new Runnable() {
@Override @Override
public void run(){ public void run(){

2
IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TestActivity.java
View File

@@ -158,7 +158,7 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
*/ */
@Override @Override
public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) { public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
mIOIOManager.setStatLedValue(isChecked); mIOIOManager.setStatLedEnabled(isChecked);
} }
/** /**