separate STOP button, contest version

robotika · Nov 28, 2014 · 79c896e · 79c896e
1 parent 01d8ddb
commit 79c896e
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Showing 3 changed files with 13 additions and 7 deletions.
diff --git a/android/DeviceControlActivity.java b/android/DeviceControlActivity.java
@@ -130,11 +130,14 @@ public boolean onChildClick(ExpandableListView parent, View v, int groupPosition
 
                         // abuse A01 characteristics for start/stop Tour-the-Stairs thread
                         if( characteristic.getUuid().toString().equals("9a66fa01-0800-9191-11e4-012d1540cb8e") ) {
-                            if( mTourTheStairs == null || mTourTheStairs.completed() ) {
-                                mTourTheStairs = new TourTheStairs( mBluetoothLeService, mGattCharacteristics );
+                            if (mTourTheStairs == null || mTourTheStairs.completed()) {
+                                mTourTheStairs = new TourTheStairs(mBluetoothLeService, mGattCharacteristics);
                                 mTourTheStairs.start();
                             }
-                            else {
+                            return true;
+                        }
+                         if( characteristic.getUuid().toString().equals("9a66fa02-0800-9191-11e4-012d1540cb8e") ) {
+                             if (mTourTheStairs != null ) {
                                 mTourTheStairs.requestStop();
                             }
                             return true;

diff --git a/android/SampleGattAttributes.java b/android/SampleGattAttributes.java
@@ -49,6 +49,7 @@ public class SampleGattAttributes {
 
         // Parrot minidrone Rolling Spider specific characteristics
         attributes.put("9a66fa01-0800-9191-11e4-012d1540cb8e", "Tour the Stairs/Parrot - A01"); // + complete range to A1F (handle 0x22 - 0x7F)
+        attributes.put("9a66fa02-0800-9191-11e4-012d1540cb8e", "   !!! S T O P    !!!");
         attributes.put("9a66fa0a-0800-9191-11e4-012d1540cb8e", "Parrot - Power Motors");     // handle 0x40
         attributes.put("9a66fa0b-0800-9191-11e4-012d1540cb8e", "Parrot - Date/Time");   // handle 0x43, 1:2014-10-29, 2:T223238+0100, 3:0x0
         attributes.put("9a66fa0c-0800-9191-11e4-012d1540cb8e", "Parrot - Emergency Stop");   // handle 0x46, send("02 00 04 00")

diff --git a/android/TourTheStairs.java b/android/TourTheStairs.java
@@ -221,7 +221,7 @@ public void newInputs( byte[] data ) {
 
     public Boolean ver0() {
         takeoff();
-        if( !motors( false, 0, 0, 0, 0, 0.0f, 12 ) ) return false;
+        if( !motors( false, 0, 0, 0, 0, 0.0f, 18 ) ) return false;
         if( !motors( true, 0, 100, 0, 0, 0.0f, 6 ) ) return false;
         emergencyStop();
         return motors( false, 0, 0, 0, 0, 0.0f, 10 );
@@ -235,10 +235,12 @@ public Boolean approachStep() {
     }
 
     public void ver1() {
-        for( int i=0; i < 3; i++ ) {
-            if( !approachStep() )
+        for( int i=0; i < 100; i++ ) {
+            if( !ver0() ) {
+                emergencyStop();
                 break;
-            if( !ver0() )
+            }
+            if( !approachStep() )
                 break;
         }
     }