An Appcelerator Hyperloop module (Android) for working with the Sphere robot

sphero.js

var ConvenienceRobot = require('com.orbotix.ConvenienceRobot');
var DualStackDiscoveryAgent = require('com.orbotix.DualStackDiscoveryAgent');
var Robot = require('com.orbotix.common.Robot');
var DiscoveryException = require('com.orbotix.common.DiscoveryException');
var RobotChangedStateListener = require('com.orbotix.common.RobotChangedStateListener');
var RobotLE = require('com.orbotix.le.RobotLE');
var Context = require('android.content.Context');
var DeviceSensorAsyncMessage = require('com.orbotix.async.DeviceSensorAsyncMessage');
var ConfigureLocatorCommand = require('com.orbotix.command.ConfigureLocatorCommand');
var ResponseListener = require('com.orbotix.common.ResponseListener');
var DeviceResponse = require('com.orbotix.common.internal.DeviceResponse');
var AsyncMessage = require('com.orbotix.common.internal.AsyncMessage');
var SensorFlag = require('com.orbotix.common.sensor.SensorFlag');
var SensorControl = require('com.orbotix.subsystem.SensorControl');
var Activity = require('android.app.Activity');

var Sphero = {
    robot: null,
    currentHeading: 0,
    currentVelocity: 0,
    isDriving: false,
    connectedCallback: null,
    finishedCallback: null,

    init: function _init(connectedCallback, finishedCallback){

      Sphero.connectedCallback = connectedCallback;
      Sphero.finishedCallback = finishedCallback;

      DualStackDiscoveryAgent.getInstance().addRobotStateListener(new RobotChangedStateListener({

        handleRobotChangedState: function (robot, type) {
          if (type == 'Online') {

                Ti.API.info('Connected');
                Sphero.connectedCallback && Sphero.connectedCallback();

                Sphero.robot = new ConvenienceRobot(robot);
                var sensorFlag = SensorFlag.LOCATOR.longValue();
                Sphero.robot.enableSensors(sensorFlag, SensorControl.StreamingRate.STREAMING_RATE10);
                Sphero.configureLocator();
                
                /** Setup Response Listener for Feedback Messaging **/
                Sphero.robot.addResponseListener(new ResponseListener({

                    handleAsyncMessage: function (asyncMessage, robot) {

                     
                    }
                }));
              }
            }
        }));
    },

    startDiscovery: function _startDiscovery(currentActivity) {

      var activity = currentActivity || new Activity(Ti.Android.currentActivity);

        //If the DiscoveryAgent is not already looking for robots, start discovery.
      if( !DualStackDiscoveryAgent.getInstance().isDiscovering() ) {
          DualStackDiscoveryAgent.getInstance().startDiscovery(activity);
      }
    },

    configureLocator: function _configureLocator() {
        //flag, x, y, z
      Sphero.robot && Sphero.robot.sendCommand(new ConfigureLocatorCommand(1, 0, 0, 0));
    },

    forward: function _moveForward() {
      console.log("_moveForward");
      Sphero.currentVelocity = Sphero.currentVelocity+.1;
      if(Sphero.currentVelocity >=1){
        Sphero.currentVelocity = 1;
      }
      console.log(Sphero.currentVelocity);
      Sphero.robot && Sphero.robot.drive(Sphero.currentHeading, Sphero.currentVelocity);
      Sphero.isDriving = true;
    },

    right: function _moveRight() {
      console.log("_moveRight");
      Sphero.currentHeading+=20;
      Sphero.robot && Sphero.robot.drive( Sphero.currentHeading, Sphero.currentVelocity);
      Sphero.isDriving = true;
    },

    reverse: function _moveReverse() {
      console.log("_moveReverse");
      Sphero.currentVelocity = Sphero.currentVelocity-.1;
      Sphero.robot && Sphero.robot.drive( Sphero.currentHeading, Sphero.currentVelocity);
      Sphero.isDriving = true;
    },

    left: function _moveLeft(){
      console.log("_moveLeft");
      Sphero.currentHeading-=20;
      Sphero.robot && Sphero.robot.drive( Sphero.currentHeading,  Sphero.currentVelocity)
      Sphero.isDriving = true;
    },

    stop: function _stop(){
      console.log("_stop");
      Sphero.robot && Sphero.robot.stop();
      Sphero.isDriving = false;
    }
}

module.exports = Sphero;