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1 parent d2a0f2c commit 9e5e6c01105f36dfc686aa417d9209e5c6e658ea @ericbarch committed Sep 12, 2012
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74 Old/Java/RobotControlClient/build.xml
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+<?xml version="1.0" encoding="UTF-8"?>
+<!-- You may freely edit this file. See commented blocks below for -->
+<!-- some examples of how to customize the build. -->
+<!-- (If you delete it and reopen the project it will be recreated.) -->
+<!-- By default, only the Clean and Build commands use this build script. -->
+<!-- Commands such as Run, Debug, and Test only use this build script if -->
+<!-- the Compile on Save feature is turned off for the project. -->
+<!-- You can turn off the Compile on Save (or Deploy on Save) setting -->
+<!-- in the project's Project Properties dialog box.-->
+<project name="RobotControl" default="default" basedir=".">
+ <description>Builds, tests, and runs the project RobotControl.</description>
+ <import file="nbproject/build-impl.xml"/>
+ <!--
+
+ There exist several targets which are by default empty and which can be
+ used for execution of your tasks. These targets are usually executed
+ before and after some main targets. They are:
+
+ -pre-init: called before initialization of project properties
+ -post-init: called after initialization of project properties
+ -pre-compile: called before javac compilation
+ -post-compile: called after javac compilation
+ -pre-compile-single: called before javac compilation of single file
+ -post-compile-single: called after javac compilation of single file
+ -pre-compile-test: called before javac compilation of JUnit tests
+ -post-compile-test: called after javac compilation of JUnit tests
+ -pre-compile-test-single: called before javac compilation of single JUnit test
+ -post-compile-test-single: called after javac compilation of single JUunit test
+ -pre-jar: called before JAR building
+ -post-jar: called after JAR building
+ -post-clean: called after cleaning build products
+
+ (Targets beginning with '-' are not intended to be called on their own.)
+
+ Example of inserting an obfuscator after compilation could look like this:
+
+ <target name="-post-compile">
+ <obfuscate>
+ <fileset dir="${build.classes.dir}"/>
+ </obfuscate>
+ </target>
+
+ For list of available properties check the imported
+ nbproject/build-impl.xml file.
+
+
+ Another way to customize the build is by overriding existing main targets.
+ The targets of interest are:
+
+ -init-macrodef-javac: defines macro for javac compilation
+ -init-macrodef-junit: defines macro for junit execution
+ -init-macrodef-debug: defines macro for class debugging
+ -init-macrodef-java: defines macro for class execution
+ -do-jar-with-manifest: JAR building (if you are using a manifest)
+ -do-jar-without-manifest: JAR building (if you are not using a manifest)
+ run: execution of project
+ -javadoc-build: Javadoc generation
+ test-report: JUnit report generation
+
+ An example of overriding the target for project execution could look like this:
+
+ <target name="run" depends="RobotControl-impl.jar">
+ <exec dir="bin" executable="launcher.exe">
+ <arg file="${dist.jar}"/>
+ </exec>
+ </target>
+
+ Notice that the overridden target depends on the jar target and not only on
+ the compile target as the regular run target does. Again, for a list of available
+ properties which you can use, check the target you are overriding in the
+ nbproject/build-impl.xml file.
+
+ -->
+</project>
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3 Old/Java/RobotControlClient/manifest.mf
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+Manifest-Version: 1.0
+X-COMMENT: Main-Class will be added automatically by build
+
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700 Old/Java/RobotControlClient/nbproject/build-impl.xml
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+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+*** GENERATED FROM project.xml - DO NOT EDIT ***
+*** EDIT ../build.xml INSTEAD ***
+
+For the purpose of easier reading the script
+is divided into following sections:
+
+ - initialization
+ - compilation
+ - jar
+ - execution
+ - debugging
+ - javadoc
+ - junit compilation
+ - junit execution
+ - junit debugging
+ - applet
+ - cleanup
+
+ -->
+<project xmlns:j2seproject1="http://www.netbeans.org/ns/j2se-project/1" xmlns:j2seproject3="http://www.netbeans.org/ns/j2se-project/3" xmlns:jaxrpc="http://www.netbeans.org/ns/j2se-project/jax-rpc" basedir=".." default="default" name="RobotControl-impl">
+ <fail message="Please build using Ant 1.7.1 or higher.">
+ <condition>
+ <not>
+ <antversion atleast="1.7.1"/>
+ </not>
+ </condition>
+ </fail>
+ <target depends="test,jar,javadoc" description="Build and test whole project." name="default"/>
+ <!--
+ ======================
+ INITIALIZATION SECTION
+ ======================
+ -->
+ <target name="-pre-init">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="-pre-init" name="-init-private">
+ <property file="nbproject/private/config.properties"/>
+ <property file="nbproject/private/configs/${config}.properties"/>
+ <property file="nbproject/private/private.properties"/>
+ </target>
+ <target depends="-pre-init,-init-private" name="-init-user">
+ <property file="${user.properties.file}"/>
+ <!-- The two properties below are usually overridden -->
+ <!-- by the active platform. Just a fallback. -->
+ <property name="default.javac.source" value="1.4"/>
+ <property name="default.javac.target" value="1.4"/>
+ </target>
+ <target depends="-pre-init,-init-private,-init-user" name="-init-project">
+ <property file="nbproject/configs/${config}.properties"/>
+ <property file="nbproject/project.properties"/>
+ </target>
+ <target depends="-pre-init,-init-private,-init-user,-init-project,-init-macrodef-property" name="-do-init">
+ <available file="${manifest.file}" property="manifest.available"/>
+ <condition property="manifest.available+main.class">
+ <and>
+ <isset property="manifest.available"/>
+ <isset property="main.class"/>
+ <not>
+ <equals arg1="${main.class}" arg2="" trim="true"/>
+ </not>
+ </and>
+ </condition>
+ <condition property="manifest.available+main.class+mkdist.available">
+ <and>
+ <istrue value="${manifest.available+main.class}"/>
+ <isset property="libs.CopyLibs.classpath"/>
+ </and>
+ </condition>
+ <condition property="have.tests">
+ <or>
+ <available file="${test.src.dir}"/>
+ </or>
+ </condition>
+ <condition property="have.sources">
+ <or>
+ <available file="${src.dir}"/>
+ </or>
+ </condition>
+ <condition property="netbeans.home+have.tests">
+ <and>
+ <isset property="netbeans.home"/>
+ <isset property="have.tests"/>
+ </and>
+ </condition>
+ <condition property="no.javadoc.preview">
+ <and>
+ <isset property="javadoc.preview"/>
+ <isfalse value="${javadoc.preview}"/>
+ </and>
+ </condition>
+ <property name="run.jvmargs" value=""/>
+ <property name="javac.compilerargs" value=""/>
+ <property name="work.dir" value="${basedir}"/>
+ <condition property="no.deps">
+ <and>
+ <istrue value="${no.dependencies}"/>
+ </and>
+ </condition>
+ <property name="javac.debug" value="true"/>
+ <property name="javadoc.preview" value="true"/>
+ <property name="application.args" value=""/>
+ <property name="source.encoding" value="${file.encoding}"/>
+ <condition property="javadoc.encoding.used" value="${javadoc.encoding}">
+ <and>
+ <isset property="javadoc.encoding"/>
+ <not>
+ <equals arg1="${javadoc.encoding}" arg2=""/>
+ </not>
+ </and>
+ </condition>
+ <property name="javadoc.encoding.used" value="${source.encoding}"/>
+ <property name="includes" value="**"/>
+ <property name="excludes" value=""/>
+ <property name="do.depend" value="false"/>
+ <condition property="do.depend.true">
+ <istrue value="${do.depend}"/>
+ </condition>
+ <condition else="" property="javac.compilerargs.jaxws" value="-Djava.endorsed.dirs='${jaxws.endorsed.dir}'">
+ <and>
+ <isset property="jaxws.endorsed.dir"/>
+ <available file="nbproject/jaxws-build.xml"/>
+ </and>
+ </condition>
+ </target>
+ <target name="-post-init">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="-pre-init,-init-private,-init-user,-init-project,-do-init" name="-init-check">
+ <fail unless="src.dir">Must set src.dir</fail>
+ <fail unless="test.src.dir">Must set test.src.dir</fail>
+ <fail unless="build.dir">Must set build.dir</fail>
+ <fail unless="dist.dir">Must set dist.dir</fail>
+ <fail unless="build.classes.dir">Must set build.classes.dir</fail>
+ <fail unless="dist.javadoc.dir">Must set dist.javadoc.dir</fail>
+ <fail unless="build.test.classes.dir">Must set build.test.classes.dir</fail>
+ <fail unless="build.test.results.dir">Must set build.test.results.dir</fail>
+ <fail unless="build.classes.excludes">Must set build.classes.excludes</fail>
+ <fail unless="dist.jar">Must set dist.jar</fail>
+ </target>
+ <target name="-init-macrodef-property">
+ <macrodef name="property" uri="http://www.netbeans.org/ns/j2se-project/1">
+ <attribute name="name"/>
+ <attribute name="value"/>
+ <sequential>
+ <property name="@{name}" value="${@{value}}"/>
+ </sequential>
+ </macrodef>
+ </target>
+ <target name="-init-macrodef-javac">
+ <macrodef name="javac" uri="http://www.netbeans.org/ns/j2se-project/3">
+ <attribute default="${src.dir}" name="srcdir"/>
+ <attribute default="${build.classes.dir}" name="destdir"/>
+ <attribute default="${javac.classpath}" name="classpath"/>
+ <attribute default="${includes}" name="includes"/>
+ <attribute default="${excludes}" name="excludes"/>
+ <attribute default="${javac.debug}" name="debug"/>
+ <attribute default="${empty.dir}" name="sourcepath"/>
+ <attribute default="${empty.dir}" name="gensrcdir"/>
+ <element name="customize" optional="true"/>
+ <sequential>
+ <property location="${build.dir}/empty" name="empty.dir"/>
+ <mkdir dir="${empty.dir}"/>
+ <javac debug="@{debug}" deprecation="${javac.deprecation}" destdir="@{destdir}" encoding="${source.encoding}" excludes="@{excludes}" includeantruntime="false" includes="@{includes}" source="${javac.source}" sourcepath="@{sourcepath}" srcdir="@{srcdir}" target="${javac.target}">
+ <src>
+ <dirset dir="@{gensrcdir}" erroronmissingdir="false">
+ <include name="*"/>
+ </dirset>
+ </src>
+ <classpath>
+ <path path="@{classpath}"/>
+ </classpath>
+ <compilerarg line="${javac.compilerargs} ${javac.compilerargs.jaxws}"/>
+ <customize/>
+ </javac>
+ </sequential>
+ </macrodef>
+ <macrodef name="depend" uri="http://www.netbeans.org/ns/j2se-project/3">
+ <attribute default="${src.dir}" name="srcdir"/>
+ <attribute default="${build.classes.dir}" name="destdir"/>
+ <attribute default="${javac.classpath}" name="classpath"/>
+ <sequential>
+ <depend cache="${build.dir}/depcache" destdir="@{destdir}" excludes="${excludes}" includes="${includes}" srcdir="@{srcdir}">
+ <classpath>
+ <path path="@{classpath}"/>
+ </classpath>
+ </depend>
+ </sequential>
+ </macrodef>
+ <macrodef name="force-recompile" uri="http://www.netbeans.org/ns/j2se-project/3">
+ <attribute default="${build.classes.dir}" name="destdir"/>
+ <sequential>
+ <fail unless="javac.includes">Must set javac.includes</fail>
+ <pathconvert pathsep="," property="javac.includes.binary">
+ <path>
+ <filelist dir="@{destdir}" files="${javac.includes}"/>
+ </path>
+ <globmapper from="*.java" to="*.class"/>
+ </pathconvert>
+ <delete>
+ <files includes="${javac.includes.binary}"/>
+ </delete>
+ </sequential>
+ </macrodef>
+ </target>
+ <target name="-init-macrodef-junit">
+ <macrodef name="junit" uri="http://www.netbeans.org/ns/j2se-project/3">
+ <attribute default="${includes}" name="includes"/>
+ <attribute default="${excludes}" name="excludes"/>
+ <attribute default="**" name="testincludes"/>
+ <sequential>
+ <junit dir="${work.dir}" errorproperty="tests.failed" failureproperty="tests.failed" fork="true" showoutput="true">
+ <batchtest todir="${build.test.results.dir}">
+ <fileset dir="${test.src.dir}" excludes="@{excludes},${excludes}" includes="@{includes}">
+ <filename name="@{testincludes}"/>
+ </fileset>
+ </batchtest>
+ <classpath>
+ <path path="${run.test.classpath}"/>
+ </classpath>
+ <syspropertyset>
+ <propertyref prefix="test-sys-prop."/>
+ <mapper from="test-sys-prop.*" to="*" type="glob"/>
+ </syspropertyset>
+ <formatter type="brief" usefile="false"/>
+ <formatter type="xml"/>
+ <jvmarg line="${run.jvmargs}"/>
+ </junit>
+ </sequential>
+ </macrodef>
+ </target>
+ <target depends="-init-debug-args" name="-init-macrodef-nbjpda">
+ <macrodef name="nbjpdastart" uri="http://www.netbeans.org/ns/j2se-project/1">
+ <attribute default="${main.class}" name="name"/>
+ <attribute default="${debug.classpath}" name="classpath"/>
+ <attribute default="" name="stopclassname"/>
+ <sequential>
+ <nbjpdastart addressproperty="jpda.address" name="@{name}" stopclassname="@{stopclassname}" transport="${debug-transport}">
+ <classpath>
+ <path path="@{classpath}"/>
+ </classpath>
+ </nbjpdastart>
+ </sequential>
+ </macrodef>
+ <macrodef name="nbjpdareload" uri="http://www.netbeans.org/ns/j2se-project/1">
+ <attribute default="${build.classes.dir}" name="dir"/>
+ <sequential>
+ <nbjpdareload>
+ <fileset dir="@{dir}" includes="${fix.classes}">
+ <include name="${fix.includes}*.class"/>
+ </fileset>
+ </nbjpdareload>
+ </sequential>
+ </macrodef>
+ </target>
+ <target name="-init-debug-args">
+ <property name="version-output" value="java version &quot;${ant.java.version}"/>
+ <condition property="have-jdk-older-than-1.4">
+ <or>
+ <contains string="${version-output}" substring="java version &quot;1.0"/>
+ <contains string="${version-output}" substring="java version &quot;1.1"/>
+ <contains string="${version-output}" substring="java version &quot;1.2"/>
+ <contains string="${version-output}" substring="java version &quot;1.3"/>
+ </or>
+ </condition>
+ <condition else="-Xdebug" property="debug-args-line" value="-Xdebug -Xnoagent -Djava.compiler=none">
+ <istrue value="${have-jdk-older-than-1.4}"/>
+ </condition>
+ <condition else="dt_socket" property="debug-transport-by-os" value="dt_shmem">
+ <os family="windows"/>
+ </condition>
+ <condition else="${debug-transport-by-os}" property="debug-transport" value="${debug.transport}">
+ <isset property="debug.transport"/>
+ </condition>
+ </target>
+ <target depends="-init-debug-args" name="-init-macrodef-debug">
+ <macrodef name="debug" uri="http://www.netbeans.org/ns/j2se-project/3">
+ <attribute default="${main.class}" name="classname"/>
+ <attribute default="${debug.classpath}" name="classpath"/>
+ <element name="customize" optional="true"/>
+ <sequential>
+ <java classname="@{classname}" dir="${work.dir}" fork="true">
+ <jvmarg line="${debug-args-line}"/>
+ <jvmarg value="-Xrunjdwp:transport=${debug-transport},address=${jpda.address}"/>
+ <jvmarg value="-Dfile.encoding=${source.encoding}"/>
+ <redirector errorencoding="${source.encoding}" inputencoding="${source.encoding}" outputencoding="${source.encoding}"/>
+ <jvmarg line="${run.jvmargs}"/>
+ <classpath>
+ <path path="@{classpath}"/>
+ </classpath>
+ <syspropertyset>
+ <propertyref prefix="run-sys-prop."/>
+ <mapper from="run-sys-prop.*" to="*" type="glob"/>
+ </syspropertyset>
+ <customize/>
+ </java>
+ </sequential>
+ </macrodef>
+ </target>
+ <target name="-init-macrodef-java">
+ <macrodef name="java" uri="http://www.netbeans.org/ns/j2se-project/1">
+ <attribute default="${main.class}" name="classname"/>
+ <attribute default="${run.classpath}" name="classpath"/>
+ <element name="customize" optional="true"/>
+ <sequential>
+ <java classname="@{classname}" dir="${work.dir}" fork="true">
+ <jvmarg value="-Dfile.encoding=${source.encoding}"/>
+ <redirector errorencoding="${source.encoding}" inputencoding="${source.encoding}" outputencoding="${source.encoding}"/>
+ <jvmarg line="${run.jvmargs}"/>
+ <classpath>
+ <path path="@{classpath}"/>
+ </classpath>
+ <syspropertyset>
+ <propertyref prefix="run-sys-prop."/>
+ <mapper from="run-sys-prop.*" to="*" type="glob"/>
+ </syspropertyset>
+ <customize/>
+ </java>
+ </sequential>
+ </macrodef>
+ </target>
+ <target name="-init-presetdef-jar">
+ <presetdef name="jar" uri="http://www.netbeans.org/ns/j2se-project/1">
+ <jar compress="${jar.compress}" jarfile="${dist.jar}">
+ <j2seproject1:fileset dir="${build.classes.dir}"/>
+ </jar>
+ </presetdef>
+ </target>
+ <target depends="-pre-init,-init-private,-init-user,-init-project,-do-init,-post-init,-init-check,-init-macrodef-property,-init-macrodef-javac,-init-macrodef-junit,-init-macrodef-nbjpda,-init-macrodef-debug,-init-macrodef-java,-init-presetdef-jar" name="init"/>
+ <!--
+ ===================
+ COMPILATION SECTION
+ ===================
+ -->
+ <target depends="init" name="deps-jar" unless="no.deps"/>
+ <target depends="init,-check-automatic-build,-clean-after-automatic-build" name="-verify-automatic-build"/>
+ <target depends="init" name="-check-automatic-build">
+ <available file="${build.classes.dir}/.netbeans_automatic_build" property="netbeans.automatic.build"/>
+ </target>
+ <target depends="init" if="netbeans.automatic.build" name="-clean-after-automatic-build">
+ <antcall target="clean"/>
+ </target>
+ <target depends="init,deps-jar" name="-pre-pre-compile">
+ <mkdir dir="${build.classes.dir}"/>
+ </target>
+ <target name="-pre-compile">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target if="do.depend.true" name="-compile-depend">
+ <pathconvert property="build.generated.subdirs">
+ <dirset dir="${build.generated.sources.dir}" erroronmissingdir="false">
+ <include name="*"/>
+ </dirset>
+ </pathconvert>
+ <j2seproject3:depend srcdir="${src.dir}:${build.generated.subdirs}"/>
+ </target>
+ <target depends="init,deps-jar,-pre-pre-compile,-pre-compile,-compile-depend" if="have.sources" name="-do-compile">
+ <j2seproject3:javac gensrcdir="${build.generated.sources.dir}"/>
+ <copy todir="${build.classes.dir}">
+ <fileset dir="${src.dir}" excludes="${build.classes.excludes},${excludes}" includes="${includes}"/>
+ </copy>
+ </target>
+ <target name="-post-compile">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,deps-jar,-verify-automatic-build,-pre-pre-compile,-pre-compile,-do-compile,-post-compile" description="Compile project." name="compile"/>
+ <target name="-pre-compile-single">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,deps-jar,-pre-pre-compile" name="-do-compile-single">
+ <fail unless="javac.includes">Must select some files in the IDE or set javac.includes</fail>
+ <j2seproject3:force-recompile/>
+ <j2seproject3:javac excludes="" gensrcdir="${build.generated.sources.dir}" includes="${javac.includes}" sourcepath="${src.dir}"/>
+ </target>
+ <target name="-post-compile-single">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,deps-jar,-verify-automatic-build,-pre-pre-compile,-pre-compile-single,-do-compile-single,-post-compile-single" name="compile-single"/>
+ <!--
+ ====================
+ JAR BUILDING SECTION
+ ====================
+ -->
+ <target depends="init" name="-pre-pre-jar">
+ <dirname file="${dist.jar}" property="dist.jar.dir"/>
+ <mkdir dir="${dist.jar.dir}"/>
+ </target>
+ <target name="-pre-jar">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,compile,-pre-pre-jar,-pre-jar" name="-do-jar-without-manifest" unless="manifest.available">
+ <j2seproject1:jar/>
+ </target>
+ <target depends="init,compile,-pre-pre-jar,-pre-jar" if="manifest.available" name="-do-jar-with-manifest" unless="manifest.available+main.class">
+ <j2seproject1:jar manifest="${manifest.file}"/>
+ </target>
+ <target depends="init,compile,-pre-pre-jar,-pre-jar" if="manifest.available+main.class" name="-do-jar-with-mainclass" unless="manifest.available+main.class+mkdist.available">
+ <j2seproject1:jar manifest="${manifest.file}">
+ <j2seproject1:manifest>
+ <j2seproject1:attribute name="Main-Class" value="${main.class}"/>
+ </j2seproject1:manifest>
+ </j2seproject1:jar>
+ <echo>To run this application from the command line without Ant, try:</echo>
+ <property location="${build.classes.dir}" name="build.classes.dir.resolved"/>
+ <property location="${dist.jar}" name="dist.jar.resolved"/>
+ <pathconvert property="run.classpath.with.dist.jar">
+ <path path="${run.classpath}"/>
+ <map from="${build.classes.dir.resolved}" to="${dist.jar.resolved}"/>
+ </pathconvert>
+ <echo>java -cp "${run.classpath.with.dist.jar}" ${main.class}</echo>
+ </target>
+ <target depends="init,compile,-pre-pre-jar,-pre-jar" if="manifest.available+main.class+mkdist.available" name="-do-jar-with-libraries">
+ <property location="${build.classes.dir}" name="build.classes.dir.resolved"/>
+ <pathconvert property="run.classpath.without.build.classes.dir">
+ <path path="${run.classpath}"/>
+ <map from="${build.classes.dir.resolved}" to=""/>
+ </pathconvert>
+ <pathconvert pathsep=" " property="jar.classpath">
+ <path path="${run.classpath.without.build.classes.dir}"/>
+ <chainedmapper>
+ <flattenmapper/>
+ <globmapper from="*" to="lib/*"/>
+ </chainedmapper>
+ </pathconvert>
+ <taskdef classname="org.netbeans.modules.java.j2seproject.copylibstask.CopyLibs" classpath="${libs.CopyLibs.classpath}" name="copylibs"/>
+ <copylibs compress="${jar.compress}" jarfile="${dist.jar}" manifest="${manifest.file}" runtimeclasspath="${run.classpath.without.build.classes.dir}">
+ <fileset dir="${build.classes.dir}"/>
+ <manifest>
+ <attribute name="Main-Class" value="${main.class}"/>
+ <attribute name="Class-Path" value="${jar.classpath}"/>
+ </manifest>
+ </copylibs>
+ <echo>To run this application from the command line without Ant, try:</echo>
+ <property location="${dist.jar}" name="dist.jar.resolved"/>
+ <echo>java -jar "${dist.jar.resolved}"</echo>
+ </target>
+ <target depends="init,compile,-pre-pre-jar,-pre-jar" if="libs.CopyLibs.classpath" name="-do-jar-with-libraries-without-manifest" unless="manifest.available+main.class">
+ <property location="${build.classes.dir}" name="build.classes.dir.resolved"/>
+ <pathconvert property="run.classpath.without.build.classes.dir">
+ <path path="${run.classpath}"/>
+ <map from="${build.classes.dir.resolved}" to=""/>
+ </pathconvert>
+ <pathconvert pathsep=" " property="jar.classpath">
+ <path path="${run.classpath.without.build.classes.dir}"/>
+ <chainedmapper>
+ <flattenmapper/>
+ <globmapper from="*" to="lib/*"/>
+ </chainedmapper>
+ </pathconvert>
+ <taskdef classname="org.netbeans.modules.java.j2seproject.copylibstask.CopyLibs" classpath="${libs.CopyLibs.classpath}" name="copylibs"/>
+ <copylibs compress="${jar.compress}" jarfile="${dist.jar}" runtimeclasspath="${run.classpath.without.build.classes.dir}">
+ <fileset dir="${build.classes.dir}"/>
+ </copylibs>
+ </target>
+ <target name="-post-jar">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,compile,-pre-jar,-do-jar-with-manifest,-do-jar-without-manifest,-do-jar-with-mainclass,-do-jar-with-libraries,-do-jar-with-libraries-without-manifest,-post-jar" description="Build JAR." name="jar"/>
+ <!--
+ =================
+ EXECUTION SECTION
+ =================
+ -->
+ <target depends="init,compile" description="Run a main class." name="run">
+ <j2seproject1:java>
+ <customize>
+ <arg line="${application.args}"/>
+ </customize>
+ </j2seproject1:java>
+ </target>
+ <target name="-do-not-recompile">
+ <property name="javac.includes.binary" value=""/>
+ </target>
+ <target depends="init,-do-not-recompile,compile-single" name="run-single">
+ <fail unless="run.class">Must select one file in the IDE or set run.class</fail>
+ <j2seproject1:java classname="${run.class}"/>
+ </target>
+ <target depends="init,-do-not-recompile,compile-test-single" name="run-test-with-main">
+ <fail unless="run.class">Must select one file in the IDE or set run.class</fail>
+ <j2seproject1:java classname="${run.class}" classpath="${run.test.classpath}"/>
+ </target>
+ <!--
+ =================
+ DEBUGGING SECTION
+ =================
+ -->
+ <target depends="init" if="netbeans.home" name="-debug-start-debugger">
+ <j2seproject1:nbjpdastart name="${debug.class}"/>
+ </target>
+ <target depends="init" if="netbeans.home" name="-debug-start-debugger-main-test">
+ <j2seproject1:nbjpdastart classpath="${debug.test.classpath}" name="${debug.class}"/>
+ </target>
+ <target depends="init,compile" name="-debug-start-debuggee">
+ <j2seproject3:debug>
+ <customize>
+ <arg line="${application.args}"/>
+ </customize>
+ </j2seproject3:debug>
+ </target>
+ <target depends="init,compile,-debug-start-debugger,-debug-start-debuggee" description="Debug project in IDE." if="netbeans.home" name="debug"/>
+ <target depends="init" if="netbeans.home" name="-debug-start-debugger-stepinto">
+ <j2seproject1:nbjpdastart stopclassname="${main.class}"/>
+ </target>
+ <target depends="init,compile,-debug-start-debugger-stepinto,-debug-start-debuggee" if="netbeans.home" name="debug-stepinto"/>
+ <target depends="init,compile-single" if="netbeans.home" name="-debug-start-debuggee-single">
+ <fail unless="debug.class">Must select one file in the IDE or set debug.class</fail>
+ <j2seproject3:debug classname="${debug.class}"/>
+ </target>
+ <target depends="init,-do-not-recompile,compile-single,-debug-start-debugger,-debug-start-debuggee-single" if="netbeans.home" name="debug-single"/>
+ <target depends="init,compile-test-single" if="netbeans.home" name="-debug-start-debuggee-main-test">
+ <fail unless="debug.class">Must select one file in the IDE or set debug.class</fail>
+ <j2seproject3:debug classname="${debug.class}" classpath="${debug.test.classpath}"/>
+ </target>
+ <target depends="init,-do-not-recompile,compile-test-single,-debug-start-debugger-main-test,-debug-start-debuggee-main-test" if="netbeans.home" name="debug-test-with-main"/>
+ <target depends="init" name="-pre-debug-fix">
+ <fail unless="fix.includes">Must set fix.includes</fail>
+ <property name="javac.includes" value="${fix.includes}.java"/>
+ </target>
+ <target depends="init,-pre-debug-fix,compile-single" if="netbeans.home" name="-do-debug-fix">
+ <j2seproject1:nbjpdareload/>
+ </target>
+ <target depends="init,-pre-debug-fix,-do-debug-fix" if="netbeans.home" name="debug-fix"/>
+ <!--
+ ===============
+ JAVADOC SECTION
+ ===============
+ -->
+ <target depends="init" name="-javadoc-build">
+ <mkdir dir="${dist.javadoc.dir}"/>
+ <javadoc additionalparam="${javadoc.additionalparam}" author="${javadoc.author}" charset="UTF-8" destdir="${dist.javadoc.dir}" docencoding="UTF-8" encoding="${javadoc.encoding.used}" failonerror="true" noindex="${javadoc.noindex}" nonavbar="${javadoc.nonavbar}" notree="${javadoc.notree}" private="${javadoc.private}" source="${javac.source}" splitindex="${javadoc.splitindex}" use="${javadoc.use}" useexternalfile="true" version="${javadoc.version}" windowtitle="${javadoc.windowtitle}">
+ <classpath>
+ <path path="${javac.classpath}"/>
+ </classpath>
+ <fileset dir="${src.dir}" excludes="${excludes}" includes="${includes}">
+ <filename name="**/*.java"/>
+ </fileset>
+ <fileset dir="${build.generated.sources.dir}" erroronmissingdir="false">
+ <include name="**/*.java"/>
+ </fileset>
+ </javadoc>
+ </target>
+ <target depends="init,-javadoc-build" if="netbeans.home" name="-javadoc-browse" unless="no.javadoc.preview">
+ <nbbrowse file="${dist.javadoc.dir}/index.html"/>
+ </target>
+ <target depends="init,-javadoc-build,-javadoc-browse" description="Build Javadoc." name="javadoc"/>
+ <!--
+ =========================
+ JUNIT COMPILATION SECTION
+ =========================
+ -->
+ <target depends="init,compile" if="have.tests" name="-pre-pre-compile-test">
+ <mkdir dir="${build.test.classes.dir}"/>
+ </target>
+ <target name="-pre-compile-test">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target if="do.depend.true" name="-compile-test-depend">
+ <j2seproject3:depend classpath="${javac.test.classpath}" destdir="${build.test.classes.dir}" srcdir="${test.src.dir}"/>
+ </target>
+ <target depends="init,compile,-pre-pre-compile-test,-pre-compile-test,-compile-test-depend" if="have.tests" name="-do-compile-test">
+ <j2seproject3:javac classpath="${javac.test.classpath}" debug="true" destdir="${build.test.classes.dir}" srcdir="${test.src.dir}"/>
+ <copy todir="${build.test.classes.dir}">
+ <fileset dir="${test.src.dir}" excludes="${build.classes.excludes},${excludes}" includes="${includes}"/>
+ </copy>
+ </target>
+ <target name="-post-compile-test">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,compile,-pre-pre-compile-test,-pre-compile-test,-do-compile-test,-post-compile-test" name="compile-test"/>
+ <target name="-pre-compile-test-single">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,compile,-pre-pre-compile-test,-pre-compile-test-single" if="have.tests" name="-do-compile-test-single">
+ <fail unless="javac.includes">Must select some files in the IDE or set javac.includes</fail>
+ <j2seproject3:force-recompile destdir="${build.test.classes.dir}"/>
+ <j2seproject3:javac classpath="${javac.test.classpath}" debug="true" destdir="${build.test.classes.dir}" excludes="" includes="${javac.includes}" sourcepath="${test.src.dir}" srcdir="${test.src.dir}"/>
+ <copy todir="${build.test.classes.dir}">
+ <fileset dir="${test.src.dir}" excludes="${build.classes.excludes},${excludes}" includes="${includes}"/>
+ </copy>
+ </target>
+ <target name="-post-compile-test-single">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,compile,-pre-pre-compile-test,-pre-compile-test-single,-do-compile-test-single,-post-compile-test-single" name="compile-test-single"/>
+ <!--
+ =======================
+ JUNIT EXECUTION SECTION
+ =======================
+ -->
+ <target depends="init" if="have.tests" name="-pre-test-run">
+ <mkdir dir="${build.test.results.dir}"/>
+ </target>
+ <target depends="init,compile-test,-pre-test-run" if="have.tests" name="-do-test-run">
+ <j2seproject3:junit testincludes="**/*Test.java"/>
+ </target>
+ <target depends="init,compile-test,-pre-test-run,-do-test-run" if="have.tests" name="-post-test-run">
+ <fail if="tests.failed" unless="ignore.failing.tests">Some tests failed; see details above.</fail>
+ </target>
+ <target depends="init" if="have.tests" name="test-report"/>
+ <target depends="init" if="netbeans.home+have.tests" name="-test-browse"/>
+ <target depends="init,compile-test,-pre-test-run,-do-test-run,test-report,-post-test-run,-test-browse" description="Run unit tests." name="test"/>
+ <target depends="init" if="have.tests" name="-pre-test-run-single">
+ <mkdir dir="${build.test.results.dir}"/>
+ </target>
+ <target depends="init,compile-test-single,-pre-test-run-single" if="have.tests" name="-do-test-run-single">
+ <fail unless="test.includes">Must select some files in the IDE or set test.includes</fail>
+ <j2seproject3:junit excludes="" includes="${test.includes}"/>
+ </target>
+ <target depends="init,compile-test-single,-pre-test-run-single,-do-test-run-single" if="have.tests" name="-post-test-run-single">
+ <fail if="tests.failed" unless="ignore.failing.tests">Some tests failed; see details above.</fail>
+ </target>
+ <target depends="init,-do-not-recompile,compile-test-single,-pre-test-run-single,-do-test-run-single,-post-test-run-single" description="Run single unit test." name="test-single"/>
+ <!--
+ =======================
+ JUNIT DEBUGGING SECTION
+ =======================
+ -->
+ <target depends="init,compile-test" if="have.tests" name="-debug-start-debuggee-test">
+ <fail unless="test.class">Must select one file in the IDE or set test.class</fail>
+ <property location="${build.test.results.dir}/TEST-${test.class}.xml" name="test.report.file"/>
+ <delete file="${test.report.file}"/>
+ <mkdir dir="${build.test.results.dir}"/>
+ <j2seproject3:debug classname="org.apache.tools.ant.taskdefs.optional.junit.JUnitTestRunner" classpath="${ant.home}/lib/ant.jar:${ant.home}/lib/ant-junit.jar:${debug.test.classpath}">
+ <customize>
+ <syspropertyset>
+ <propertyref prefix="test-sys-prop."/>
+ <mapper from="test-sys-prop.*" to="*" type="glob"/>
+ </syspropertyset>
+ <arg value="${test.class}"/>
+ <arg value="showoutput=true"/>
+ <arg value="formatter=org.apache.tools.ant.taskdefs.optional.junit.BriefJUnitResultFormatter"/>
+ <arg value="formatter=org.apache.tools.ant.taskdefs.optional.junit.XMLJUnitResultFormatter,${test.report.file}"/>
+ </customize>
+ </j2seproject3:debug>
+ </target>
+ <target depends="init,compile-test" if="netbeans.home+have.tests" name="-debug-start-debugger-test">
+ <j2seproject1:nbjpdastart classpath="${debug.test.classpath}" name="${test.class}"/>
+ </target>
+ <target depends="init,-do-not-recompile,compile-test-single,-debug-start-debugger-test,-debug-start-debuggee-test" name="debug-test"/>
+ <target depends="init,-pre-debug-fix,compile-test-single" if="netbeans.home" name="-do-debug-fix-test">
+ <j2seproject1:nbjpdareload dir="${build.test.classes.dir}"/>
+ </target>
+ <target depends="init,-pre-debug-fix,-do-debug-fix-test" if="netbeans.home" name="debug-fix-test"/>
+ <!--
+ =========================
+ APPLET EXECUTION SECTION
+ =========================
+ -->
+ <target depends="init,compile-single" name="run-applet">
+ <fail unless="applet.url">Must select one file in the IDE or set applet.url</fail>
+ <j2seproject1:java classname="sun.applet.AppletViewer">
+ <customize>
+ <arg value="${applet.url}"/>
+ </customize>
+ </j2seproject1:java>
+ </target>
+ <!--
+ =========================
+ APPLET DEBUGGING SECTION
+ =========================
+ -->
+ <target depends="init,compile-single" if="netbeans.home" name="-debug-start-debuggee-applet">
+ <fail unless="applet.url">Must select one file in the IDE or set applet.url</fail>
+ <j2seproject3:debug classname="sun.applet.AppletViewer">
+ <customize>
+ <arg value="${applet.url}"/>
+ </customize>
+ </j2seproject3:debug>
+ </target>
+ <target depends="init,compile-single,-debug-start-debugger,-debug-start-debuggee-applet" if="netbeans.home" name="debug-applet"/>
+ <!--
+ ===============
+ CLEANUP SECTION
+ ===============
+ -->
+ <target depends="init" name="deps-clean" unless="no.deps"/>
+ <target depends="init" name="-do-clean">
+ <delete dir="${build.dir}"/>
+ <delete dir="${dist.dir}"/>
+ </target>
+ <target name="-post-clean">
+ <!-- Empty placeholder for easier customization. -->
+ <!-- You can override this target in the ../build.xml file. -->
+ </target>
+ <target depends="init,deps-clean,-do-clean,-post-clean" description="Clean build products." name="clean"/>
+</project>
View
8 Old/Java/RobotControlClient/nbproject/genfiles.properties
@@ -0,0 +1,8 @@
+build.xml.data.CRC32=b4b69dd5
+build.xml.script.CRC32=ad0b23bf
+build.xml.stylesheet.CRC32=958a1d3e@1.26.2.45
+# This file is used by a NetBeans-based IDE to track changes in generated files such as build-impl.xml.
+# Do not edit this file. You may delete it but then the IDE will never regenerate such files for you.
+nbproject/build-impl.xml.data.CRC32=b4b69dd5
+nbproject/build-impl.xml.script.CRC32=518a5ca6
+nbproject/build-impl.xml.stylesheet.CRC32=5c621a33@1.26.2.45
View
0 Old/Java/RobotControlClient/nbproject/private/config.properties
No changes.
View
7 Old/Java/RobotControlClient/nbproject/private/private.properties
@@ -0,0 +1,7 @@
+compile.on.save=false
+do.depend=false
+do.jar=true
+javac.debug=true
+javadoc.preview=true
+jaxws.endorsed.dir=C:\\Program Files (x86)\\NetBeans 6.7.1\\java2\\modules\\ext\\jaxws21\\api:C:\\Program Files (x86)\\NetBeans 6.7.1\\ide11\\modules\\ext\\jaxb\\api
+user.properties.file=C:\\Users\\Eric Barch\\.netbeans\\6.7\\build.properties
View
4 Old/Java/RobotControlClient/nbproject/private/private.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
+ <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/1"/>
+</project-private>
View
66 Old/Java/RobotControlClient/nbproject/project.properties
@@ -0,0 +1,66 @@
+application.title=RobotControl
+application.vendor=Eric
+build.classes.dir=${build.dir}/classes
+build.classes.excludes=**/*.java,**/*.form
+# This directory is removed when the project is cleaned:
+build.dir=build
+build.generated.dir=${build.dir}/generated
+build.generated.sources.dir=${build.dir}/generated-sources
+# Only compile against the classpath explicitly listed here:
+build.sysclasspath=ignore
+build.test.classes.dir=${build.dir}/test/classes
+build.test.results.dir=${build.dir}/test/results
+debug.classpath=\
+ ${run.classpath}
+debug.test.classpath=\
+ ${run.test.classpath}
+# This directory is removed when the project is cleaned:
+dist.dir=dist
+dist.jar=${dist.dir}/RobotControl.jar
+dist.javadoc.dir=${dist.dir}/javadoc
+excludes=
+file.reference.jinput.jar=jinput.jar
+file.reference.jutils.jar=jutils.jar
+includes=**
+jar.compress=false
+javac.classpath=\
+ ${file.reference.jutils.jar}:\
+ ${file.reference.jinput.jar}
+# Space-separated list of extra javac options
+javac.compilerargs=
+javac.deprecation=false
+javac.source=1.5
+javac.target=1.5
+javac.test.classpath=\
+ ${javac.classpath}:\
+ ${build.classes.dir}:\
+ ${libs.junit.classpath}:\
+ ${libs.junit_4.classpath}
+javadoc.additionalparam=
+javadoc.author=false
+javadoc.encoding=${source.encoding}
+javadoc.noindex=false
+javadoc.nonavbar=false
+javadoc.notree=false
+javadoc.private=false
+javadoc.splitindex=true
+javadoc.use=true
+javadoc.version=false
+javadoc.windowtitle=
+main.class=robotcontrol.Main
+manifest.file=manifest.mf
+meta.inf.dir=${src.dir}/META-INF
+platform.active=default_platform
+run.classpath=\
+ ${javac.classpath}:\
+ ${build.classes.dir}
+# Space-separated list of JVM arguments used when running the project
+# (you may also define separate properties like run-sys-prop.name=value instead of -Dname=value
+# or test-sys-prop.name=value to set system properties for unit tests):
+run.jvmargs=
+run.test.classpath=\
+ ${javac.test.classpath}:\
+ ${build.test.classes.dir}
+source.encoding=UTF-8
+src.dir=src
+test.src.dir=test
View
16 Old/Java/RobotControlClient/nbproject/project.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://www.netbeans.org/ns/project/1">
+ <type>org.netbeans.modules.java.j2seproject</type>
+ <configuration>
+ <data xmlns="http://www.netbeans.org/ns/j2se-project/3">
+ <name>RobotControl</name>
+ <minimum-ant-version>1.6.5</minimum-ant-version>
+ <source-roots>
+ <root id="src.dir"/>
+ </source-roots>
+ <test-roots>
+ <root id="test.src.dir"/>
+ </test-roots>
+ </data>
+ </configuration>
+</project>
View
186 Old/Java/RobotControlClient/src/robotcontrol/Main.java
@@ -0,0 +1,186 @@
+/*
+ * RobotControl System v0.2 by Eric Barch
+ * Socket based Joystick Data Feed
+ */
+
+package robotcontrol;
+
+import net.java.games.input.*;
+import java.net.*;
+import java.io.*;
+
+/**
+ *
+ * @author Eric Barch
+ */
+public class Main {
+
+ //Get the USB controllers
+ static Controller[] controllers = ControllerEnvironment.getDefaultEnvironment().getControllers();
+
+ //SET USB INPUT DEVICE HERE
+ static Controller robotJoystick = controllers[10];
+
+ //Print out all the available USB devices
+ /*System.out.println("Robot joystick is: " + robotJoystick.getName());
+ for (int j=0;j<controllers.length;j++) {
+ //Get the components name
+ System.out.println("Component "+j+": "+controllers[j].getName());
+ }*/
+
+ /**
+ * @param args the command line arguments
+ */
+ public static void main(String[] args) throws IOException {
+
+ Socket robotSocket = null;
+ PrintWriter out = null;
+ BufferedReader in = null;
+ String rxData;
+ String txData;
+
+ try {
+ robotSocket = new Socket("192.168.1.44", 4444);
+ out = new PrintWriter(robotSocket.getOutputStream(), true);
+ in = new BufferedReader(new InputStreamReader(robotSocket.getInputStream()));
+ } catch (UnknownHostException e) {
+ System.err.println("Unknown host.");
+ System.exit(1);
+ } catch (IOException e) {
+ System.err.println("Couldn't get I/O for robot connection.");
+ System.exit(1);
+ }
+
+ //Signal the initial connection
+ out.println("!");
+
+ /* MAIN PROGRAM LOOP (Data tx/rx) */
+ while((rxData = in.readLine()) != null) {
+ System.out.println(rxData);
+
+ //Assemble the txData variable we are transmitting to the robot
+ txData = Integer.toString(grabJoystickData("leftPWM")) + "|" + Integer.toString(grabJoystickData("rightPWM"));
+ txData += "|" + Integer.toString(grabJoystickData("B1"));
+ txData += "|" + Integer.toString(grabJoystickData("B2"));
+ txData += "|" + Integer.toString(grabJoystickData("B3"));
+ txData += "|" + Integer.toString(grabJoystickData("B4"));
+ txData += "|" + Integer.toString(grabJoystickData("B5"));
+ txData += "|" + Integer.toString(grabJoystickData("B6"));
+ txData += "|" + Integer.toString(grabJoystickData("B7"));
+ txData += "|" + Integer.toString(grabJoystickData("B8"));
+ txData += "|" + Integer.toString(grabJoystickData("B9"));
+ txData += "|" + Integer.toString(grabJoystickData("B10"));
+ txData += "|" + Integer.toString(grabJoystickData("LAB"));
+ txData += "|" + Integer.toString(grabJoystickData("RAB"));
+ txData += "|" + Integer.toString(grabJoystickData("Up"));
+ txData += "|" + Integer.toString(grabJoystickData("Right"));
+ txData += "|" + Integer.toString(grabJoystickData("Down"));
+ txData += "|" + Integer.toString(grabJoystickData("Left"));
+ txData += "#";
+
+ //Kick it out to the robot
+ out.println(txData);
+
+ try {
+ Thread.sleep(1); // Wait for 1ms
+ }
+ catch(InterruptedException e) {
+ e.printStackTrace();
+ }
+ }
+
+ out.close();
+ in.close();
+ robotSocket.close();
+ }
+
+ static public int grabJoystickData(String axis) {
+
+ //Grab new data from the controller
+ robotJoystick.poll();
+
+ //Grab individual components of controller input
+ Component[] components = robotJoystick.getComponents();
+
+ //Setup output variable
+ int output = 0;
+
+ //Button Feedback / Action Mapping
+ if (axis.equals("B1") && components[5].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B2") && components[6].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B3") && components[7].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B4") && components[8].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B5") && components[9].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B6") && components[10].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B7") && components[11].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B8") && components[12].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B9") && components[13].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("B10") && components[14].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("LAB") && components[15].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("RAB") && components[16].getPollData() == 1)
+ output = 1;
+ else if (axis.equals("Up") && components[4].getPollData() == .25)
+ output = 1;
+ else if (axis.equals("Right") && components[4].getPollData() == .50)
+ output = 1;
+ else if (axis.equals("Down") && components[4].getPollData() == .75)
+ output = 1;
+ else if (axis.equals("Left") && components[4].getPollData() == 1)
+ output = 1;
+
+ /* Dual Analog Joystick PWM Calculation */
+
+ //Grab joystick values, multiply by -127, normalize by 127 to get PWM ranges
+ Float fGrabY1 = ((components[2].getPollData() * -127) + 127); //Left Joystick (y-axis)
+ Float fGrabY2 = ((components[0].getPollData() * -127) + 127); //Right Joystick (y-axis)
+
+ //Convert floats to integers for PWM output
+ int grabY1 = fGrabY1.intValue();
+ int grabY2 = fGrabY2.intValue();
+
+ //Output control data
+ if (axis.equals("leftPWM"))
+ output = grabY1;
+ else if (axis.equals("rightPWM"))
+ output = grabY2;
+
+ return output;
+
+ /*Grab analog joystick1 X/Y values
+ Float fHeading = components[12].getPollData(); //Grab direction value (-1 to 1)
+ Float fPower = (components[13].getPollData() * -127); //Create power value from -127 to 127
+
+ //Temporary Storage/Calculation Floats
+ Float fLDrive;
+ Float fRDrive;
+
+ if (fHeading >= 0) { //Turning Right
+ fLDrive = fPower;
+ fRDrive = fLDrive * (1 - fHeading);
+ }
+ else { //Turning Left
+ fRDrive = fPower;
+ fLDrive = fRDrive * (1 - (fHeading * -1));
+ }
+
+ //Normalize control signals to Neutral PWM
+ fLDrive = fLDrive + 127;
+ fRDrive = fRDrive + 127;
+
+ //Convert Floats to Integer Values
+ int LDrive = fLDrive.intValue();
+ int RDrive = fRDrive.intValue();*/
+ }
+
+}
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155 Old/Java/RobotControlServer/robotcontrolv02.pde
@@ -0,0 +1,155 @@
+#include <Ethernet.h>
+#include <Servo.h>
+#include <string.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+//Constants
+#define NEUTRAL 90
+
+//Global robot variables
+int robotEnabled = 0; //0 - Robot Disabled, 1 - Robot Enabled
+int robotAuton = 0; //0 - Tele-op, 1 - Autonomous
+unsigned long lastUpdate = 0; //Keeps track of the last time (ms) we received data
+int rxComplete = 0; //Lets us know if we can process data
+
+//Define joystick inputs
+int left_ana = 0;
+int right_ana = 0;
+int left_ana_srv = 0;
+int right_ana_srv = 0;
+int btn_1 = 0;
+int btn_2 = 0;
+int btn_3 = 0;
+int btn_4 = 0;
+int btn_5 = 0;
+int btn_6 = 0;
+int btn_7 = 0;
+int btn_8 = 0;
+int btn_9 = 0;
+int btn_10 = 0;
+int btn_lab = 0;
+int btn_rab = 0;
+int btn_up = 0;
+int btn_right = 0;
+int btn_down = 0;
+int btn_left = 0;
+
+//Define robot outputs
+int pwm01 = 5;
+int pwm02 = 6;
+//Speed Controller Objects
+Servo leftDrive;
+Servo rightDrive;
+
+//Networking stuff
+byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
+byte ip[] = { 192, 168, 1, 44 };
+
+Server server(4444);
+
+
+void setup()
+{
+ Ethernet.begin(mac, ip);
+ server.begin();
+ Serial.begin(9600);
+
+ leftDrive.attach(pwm01);
+ rightDrive.attach(pwm02);
+
+ Serial.println("Robot booted.");
+}
+
+
+void loop()
+{
+ xferdata();
+
+ //Only allow robot to be enabled if we've received data in the last second and robot is set to enabled
+ if (robotEnabled && (millis() - lastUpdate) <= 1000)
+ enabled();
+ else
+ disabled();
+}
+
+
+void xferdata()
+{
+ Client client = server.available();
+ char rxData[100]; //Our data received from our controller is loaded in here
+ char *lastrxSplit; //Used to keep track of where we are in the string splitting process
+ int rxDatalength = 0; //Keeps track of the index of rxData
+
+ if (client) {
+ while (client.connected() && client.available()) {
+ char c = client.read();
+
+ if (c == '#') {
+ rxComplete = 1;
+ break;
+ }
+
+ if (c != '!')
+ rxData[rxDatalength++] = c;
+ else
+ client.println("Connection initialized.");
+ }
+ }
+
+ if (rxComplete) //Process data
+ {
+ left_ana = atoi(strtok_r(rxData,"|",&lastrxSplit));
+ left_ana_srv = map(left_ana, 0, 254, 0, 180);
+ right_ana = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ right_ana_srv = map(right_ana, 0, 254, 0, 180);
+ btn_1 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_2 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_3 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_4 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_5 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_6 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_7 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_8 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_9 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_10 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_lab = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_rab = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_up = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_right = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_down = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_left = atoi(strtok_r(NULL,"|",&lastrxSplit));
+
+ if (btn_7 && btn_8)
+ robotEnabled = 1;
+ else
+ robotEnabled = 0;
+
+ //Keep track of the last time we received data
+ lastUpdate = millis();
+
+ //All data grabbed, tx to the system so we can get more data (transmit current uptime, left/right PWM)
+ client.print((millis()/1000)/60);
+ client.print(",");
+ client.print(left_ana);
+ client.print(",");
+ client.print(right_ana);
+ client.print("\n");
+
+ rxComplete = 0;
+ }
+}
+
+
+void enabled()
+{
+ leftDrive.write(left_ana_srv);
+ rightDrive.write(right_ana_srv);
+}
+
+
+void disabled()
+{
+ leftDrive.write(NEUTRAL);
+ rightDrive.write(NEUTRAL);
+}
View
20 Old/Perl/perl-arduino.txt
@@ -0,0 +1,20 @@
+# Perl script to retrieve data from arduino USB connection
+
+use Device::SerialPort;
+
+# Set up the serial port
+# 19200, 81N on the USB ftdi driver
+my $port = Device::SerialPort->new("/dev/ttyUSB0");
+$port->databits(8);
+$port->baudrate(9600);
+$port->parity("none");
+$port->stopbits(1);
+
+while (1) {
+ # Poll to see if any data is coming in
+ my $char = $port->lookfor();
+
+ if ($char) {
+ print "Recieved character: " . $char . " \n";
+ }
+}
View
86 Old/Perl/sc.pl
@@ -0,0 +1,86 @@
+#!/usr/bin/perl
+#
+# mysql2ssc v0.1 by Eric Barch
+#
+# This application is designed for driving a robot using a Mini SSC II
+# It reads values from the database and then writes them out to the serial port
+# If the data becomes stale, all outputs are set to neutral
+
+use FileHandle;
+use DBI();
+use Time::HiRes qw ( sleep );
+
+# Connect to the database.
+my $dbh = DBI->connect("DBI:mysql:database=robot;host=localhost","root", "ttj",{'RaiseError' => 1});
+
+# Define the serial port
+$serial_device = "/dev/ttyS0";
+
+# Initiate main program loop
+while (1)
+{
+ # Now retrieve data from the table.
+ my $sth = $dbh->prepare("SELECT Ldrive FROM data WHERE id = 1");
+ $sth->execute();
+ while (my $ref = $sth->fetchrow_hashref()) {
+ $Ldrive = $ref->{'Ldrive'};
+ }
+ $sth->finish();
+
+ # Now retrieve data from the table.
+ my $sth = $dbh->prepare("SELECT Rdrive FROM data WHERE id = 1");
+ $sth->execute();
+ while (my $ref = $sth->fetchrow_hashref()) {
+ $Rdrive = $ref->{'Rdrive'};
+ }
+ $sth->finish();
+
+ # Now retrieve data from the table.
+ my $sth = $dbh->prepare("SELECT lastupdate FROM data WHERE id = 1");
+ $sth->execute();
+ while (my $ref = $sth->fetchrow_hashref()) {
+ $record = $ref->{'lastupdate'};
+ }
+ $sth->finish();
+
+ # Open up the serial port
+ open(SERIAL,"+< $serial_device") or die "open: $!";
+ SERIAL->autoflush(1);
+
+ # We haven't received a new command lately, set outputs to neutral
+ if ((time - $record) > 1)
+ {
+ # Setting all PWM values to neutral
+ printf(SERIAL "%c%c%c",255,0,127);
+ printf(SERIAL "%c%c%c",255,1,127);
+ printf(SERIAL "%c%c%c",255,2,127);
+ printf(SERIAL "%c%c%c",255,3,127);
+ printf(SERIAL "%c%c%c",255,4,127);
+ printf(SERIAL "%c%c%c",255,5,127);
+ printf(SERIAL "%c%c%c",255,6,127);
+ printf(SERIAL "%c%c%c",255,7,127);
+
+ # Print diagnostic data
+ print "Control data stale. Sending neutral to all outputs.\n";
+ }
+ elsif ($Ldrive >= 0 && $Ldrive <= 254 && $Rdrive >= 0 && $Rdrive <= 254)
+ {
+ # We've got valid values!
+ # Send data provided to script from serial port
+ printf(SERIAL "%c%c%c",255,0,$Ldrive);
+ printf(SERIAL "%c%c%c",255,1,$Rdrive);
+
+ # Print diagnostic data
+ print "Outputs sent to Mini SSC.\n";
+ }
+ else
+ {
+ print "Invalid values provided.\n";
+ }
+
+ # Close the serial port
+ close(SERIAL);
+
+ # Delay for 5ms
+ sleep (.005);
+}
View
122 Old/Python/oldRev/robotcontrolv02.pde
@@ -0,0 +1,122 @@
+#include <Ethernet.h>
+#include <Servo.h>
+#include <string.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+//Constants
+#define NEUTRAL 90
+
+boolean robotEnabled = false; //Robot Enable/Disable Killswitch
+boolean rxComplete = false; //Lets us know if we can process data
+double lastUpdate = 0; //Keeps track of the last time (ms) we received data
+
+//Define joystick inputs
+int left_ana = 0;
+int right_ana = 0;
+int btn_7 = 0;
+int btn_8 = 0;
+
+//Define robot outputs
+int pwm01 = 5;
+int pwm02 = 6;
+
+//Speed Controller Objects
+Servo leftDrive;
+Servo rightDrive;
+
+//Networking stuff
+byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
+byte ip[] = { 192, 168, 1, 44 };
+
+Server server(4444);
+
+
+void setup()
+{
+ Ethernet.begin(mac, ip);
+ server.begin();
+ Serial.begin(9600);
+
+ leftDrive.attach(pwm01);
+ rightDrive.attach(pwm02);
+
+ Serial.println("Robot booted.");
+}
+
+
+void loop()
+{
+ xferdata();
+
+ //Only allow robot to be enabled if we've received data in the last quarter second and robot is set to enabled
+ if (robotEnabled && (millis() - lastUpdate) <= 250)
+ enabled();
+ else
+ disabled();
+}
+
+
+void xferdata()
+{
+ Client client = server.available();
+ char rxData[100]; //Our data received from our controller is loaded in here
+ char *lastrxSplit; //Used to keep track of where we are in the string splitting process
+ int rxDatalength = 0; //Keeps track of the index of rxData
+
+ if (client) {
+ while (client.connected() && client.available()) {
+ char c = client.read();
+
+ if (c == '#') {
+ rxComplete = true;
+ break;
+ }
+
+ if (c != '!')
+ rxData[rxDatalength++] = c;
+ else
+ client.println("Connection initialized.");
+ }
+ }
+
+ if (rxComplete) //Process data
+ {
+ left_ana = atoi(strtok_r(rxData,"|",&lastrxSplit));
+ right_ana = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_7 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+ btn_8 = atoi(strtok_r(NULL,"|",&lastrxSplit));
+
+ if (btn_7 && btn_8)
+ robotEnabled = true;
+ else
+ robotEnabled = false;
+
+ //Keep track of the last time we received data
+ lastUpdate = millis();
+
+ //All data grabbed, tx to the system so we can get more data (transmit current uptime, left/right PWM)
+ client.print((millis()/1000)/60);
+ client.print(",");
+ client.print(left_ana);
+ client.print(",");
+ client.print(right_ana);
+ client.print("\n");
+
+ rxComplete = false;
+ }
+}
+
+
+void enabled()
+{
+ leftDrive.write(map(left_ana, -100, 100, 0, 180));
+ rightDrive.write(map(right_ana, -100, 100, 0, 180));
+}
+
+
+void disabled()
+{
+ leftDrive.write(NEUTRAL);
+ rightDrive.write(NEUTRAL);
+}
View
119 Old/Python/robot_control.py
@@ -0,0 +1,119 @@
+#!/usr/bin/env python
+#
+# arduino-usb-joystick-control
+#
+# created 08.14.2010 - Eric Barch (ttjcrew.com)
+#
+# code adapted from:
+# http://principialabs.com/joystick-control-of-a-servo/ (Brian D. Wendt)
+#
+# NOTE: This script requires the following Python modules:
+# pygame - http://www.pygame.org/
+# Win32 users may also need:
+# pywin32 - http://sourceforge.net/projects/pywin32/
+
+import pygame
+import threading
+import socket
+
+# allow multiple joysticks
+joy = []
+
+UDP_IP="192.168.1.33"
+UDP_PORT=4444
+
+# handle output to robot
+class robotio(threading.Thread):
+ def __init__(self):
+ threading.Thread.__init__(self)
+ self.event = threading.Event()
+
+ def run(self):
+ while not self.event.is_set():
+ MESSAGE=chr(xPos)+chr(yPos)
+ sock = socket.socket( socket.AF_INET, socket.SOCK_DGRAM ) # UDP
+ sock.sendto(MESSAGE, (UDP_IP, UDP_PORT))
+ print "X: %d, Y: %d" % (xPos, yPos)
+ self.event.wait(0.01) # 10ms
+
+ def stop(self):
+ self.event.set()
+
+tmr = robotio()
+xPos = 90
+yPos = 90
+
+# handle joystick event
+def handleJoyEvent(e):
+ if e.type == pygame.JOYAXISMOTION:
+ axis = "unknown"
+ if (e.dict['axis'] == 1):
+ axis = "X"
+
+ if (e.dict['axis'] == 3):
+ axis = "Y"
+
+ if (axis != "unknown"):
+ # Arduino joystick-servo hack
+ if (axis == "X"):
+ pos = e.dict['value']
+ # convert joystick position to servo increment, 0-180
+ move = round(pos * 90, 0)
+ global xPos
+ if (move < 0):
+ xPos = int(90 - abs(move))
+ else:
+ xPos = int(move + 90)
+ xPos = 180 - xPos
+ if (axis == "Y"):
+ pos = e.dict['value']
+ # convert joystick position to servo increment, 0-180
+ move = round(pos * 90, 0)
+ global yPos
+ if (move < 0):
+ yPos = int(90 - abs(move))
+ else:
+ yPos = int(move + 90)
+ yPos = 180 - yPos
+
+ #elif e.type == pygame.JOYBUTTONDOWN:
+ # Button 0 (trigger) to quit
+ #if (e.dict['button'] == 0):
+ #print "Quit.\n"
+ #global tmr
+ #tmr.stop()
+ #quit()
+ else:
+ pass
+
+# wait for joystick input
+def joystickControl():
+ while True:
+ e = pygame.event.wait()
+ if (e.type == pygame.JOYAXISMOTION or e.type == pygame.JOYBUTTONDOWN):
+ handleJoyEvent(e)
+
+# main method
+def main():
+ # initialize pygame
+ pygame.joystick.init()
+ pygame.display.init()
+ if not pygame.joystick.get_count():
+ print "\nPlease connect a joystick and run again.\n"
+ quit()
+ print "\n%d joystick(s) detected." % pygame.joystick.get_count()
+ for i in range(pygame.joystick.get_count()):
+ myjoy = pygame.joystick.Joystick(i)
+ myjoy.init()
+ joy.append(myjoy)
+ print "Joystick %d: " % (i) + joy[i].get_name()
+ #print "Depress button 1 to quit.\n"
+ global tmr
+ tmr.start()
+
+ # run joystick listener loop
+ joystickControl()
+
+# allow use as a module or standalone script
+if __name__ == "__main__":
+ main()
View
BIN RobotControlSystem.pdf
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