initial commit

.gitignore

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+/target
+/lib
+/classes
+/checkouts
+pom.xml
+*.jar
+*.class
+.lein-deps-sum
+.lein-failures
+.lein-plugins

.roomba_config

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+/dev/cu.FireFly-943A-SPP
+SCI
+N

README.md

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+# clj-roomba
+
+A Clojure library designed to ... well, that part is up to you.
+
+## Usage
+lein localrepo install roombacomm/roombacomm.jar roombacomm 0.96
+lein localrepo install roombacomm/RXTXcomm.jar rxtxcomm 0103 
+http://wiki.processing.org/w/Serial_Issues
+
+FIXME
+
+## License
+
+Copyright © 2012 FIXME
+
+Distributed under the Eclipse Public License, the same as Clojure.

doc/intro.md

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+# Introduction to clj-roomba
+
+TODO: write [great documentation](http://jacobian.org/writing/great-documentation/what-to-write/)

project.clj

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+(defproject repl-roomba "1.0.0-SNAPSHOT"
+  :description "Fun Sample Project to Control Roomba with Clojure"
+  :dependencies [ [org.clojure/clojure "1.3.0"]
+                  [roombacomm "0.96"]
+                  [rxtxcomm "0103"]]
+  :jvm-opts [~(str "-Djava.library.path=roombacomm/")])

roombacomm/README.rxtx

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+These RXTX files were just copied directly from the 0103 released of 
+Processing.  
+
+Their versions are reported as:
+ Native lib Version = RXTX-2.1-7pre17
+ Java lib Version   = RXTX-2.1-7pre17
+
+
+
+
+If you've never used RXTX before on your Mac OS X box, run the command:
+
+% ./macosx_setup.command
+
+And then shutdown (not just log out) and log back in again.
+And read this faq from Processing: http://processing.org/faq/bugs.html#serial
+

roombacomm/macosx_setup.command.old

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+#!/bin/sh
+#
+# Taken from Processing's serial library -=tod
+#
+
+#
+# originally fixperm.sh from rxtx-2.1_6/contrib
+# with a couple additions from pathsetup.command from fink [fry]
+
+# A script to fix permissions for lock files on Mac OS X
+# Contributed by Dmitry Markman <dimitry.markman@verizon.net>
+# Fri Aug 23 15:46:46 MDT 2002
+
+echo ""
+echo ""
+echo "This command will take care of a couple system things"
+echo "so that you can properly use the serial port to communicate"
+echo "between hardware devices and processing."
+echo ""
+echo "If there are actually changes that need to be made, then"
+echo "enter your password when prompted. The command uses sudo,"
+echo "and you'll need to have administrator access."
+echo ""
+
+echo -n "Do you want to continue? [Y/n] "
+read answer
+answer=`echo $answer | sed 's/^[yY].*$/y/'`
+if [ -z "$answer" -o "x$answer" = "xy" ]; then
+    curruser=`sudo id -p | grep 'login' | sed 's/login.//'`
+
+    if [ ! -d /var/spool/uucp ]
+    then
+        sudo mkdir /var/spool/uucp
+    fi
+
+    sudo chgrp uucp /var/spool/uucp
+    sudo chmod 775 /var/spool/uucp
+
+    if [ ! `sudo niutil -readprop / /groups/uucp users | grep $curruser > /dev/null` ]
+    then
+        sudo niutil -mergeprop / /groups/uucp users $curruser
+    fi
+
+    echo "Finished making changes, you should be all set"
+else
+    echo "Ok, nevermind then."
+fi
+
+echo ""
+echo ""
+echo "     (All done... you can close this window now)"
+echo ""
+echo ""
+echo ""
+

src/clj_roomba/core.clj

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+(ns clj-roomba.core
+  (:import roombacomm.RoombaCommSerial))
+
+(println (System/getProperty "java.class.path"))
+(println (System/getProperty "java.library.path"))
+
+(def roomba (RoombaCommSerial. ))
+
+;;Find your port for your Roomba
+(map println (.listPorts roomba))
+(def portname "/dev/cu.FireFly-943A-SPP")
+(.connect roomba portname)
+(.startup roomba)  ;;puts Roomba in safe Mode
+;; What mode is Roomba in?
+(.modeAsString roomba)
+
+(.control roomba)
+(.pause roomba 30)
+(.updateSensors roomba)
+(.playNote roomba 72 40)
+(.playNote roomba 79 40)
+(.spinLeft roomba)
+(.spinRight roomba)
+(.goBackward roomba)
+(.goForward roomba)
+(.turnLeft roomba)
+(.turnRight roomba)
+
+(.stop roomba)
+(.reset roomba)
+
+
+;; Get the sensor data
+(.bumpLeft roomba)
+(.bumpRight roomba)
+(.wheelDropLeft roomba)
+(.wheelDropRight roomba)
+(.wheelDropCenter roomba)
+(.sensorsAsString roomba)
+
+(.vacuum roomba true)
+(.vacuum roomba false)
+
+
+(defn bark [r]
+  (doto r
+    (.vacuum true)
+    (.playNote 50 5)
+    (.pause 150)
+    (.vacuum false)))
+
+
+(bark roomba)
+
+(.disconnect roomba)  ;; coredumps locally native problem?

test/clj_roomba/core_test.clj

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+(ns clj-roomba.core-test
+  (:use clojure.test
+        clj-roomba.core))
+
+(deftest a-test
+  (testing "FIXME, I fail."
+    (is (= 0 1))))