Brick code for NXTremoteControl_TA.java

NXTtr.java

/* Application for brick, compiled with nxjc 
   Client-Server architecture
   Commands sent by NXTremoteControl_TA.java*/
import java.io.*;
import lejos.nxt.*;
import lejos.nxt.comm.*;


public class NXTtr
{ 
  public static DataOutputStream dataOut; 
  public static DataInputStream dataIn;
  public static USBConnection USBLink;
  public static int speed =50, turnSpeed = 50,speedBuffer, speedControl;
  public static int commandValue,transmitReceived;
  public static boolean[] control = new boolean[7];
  public static boolean[] command = new boolean[7];

   
 public static void main(String [] args) throws Exception
 {
  connect(); 
  
  while(true)
  { 
   control = checkCommand();
   if (control[6] == true)
      disconnect();
   speedControl = getSpeed(control);
   move(control, speedControl);
   }

 }//End main
 
 public static boolean[] checkCommand()//check input data
 {
    
    try {
       transmitReceived = dataIn.readInt();

       if(transmitReceived == 1) {command[0] = true;}//forward
       if(transmitReceived == 10){command[0] = false;}
       if(transmitReceived == 2) {command[1] = true;}//backward
       if(transmitReceived == 20){command[1] = false;}
       if(transmitReceived == 3) {command[2] = true;}//leftTurn
       if(transmitReceived == 30){command[2] = false;}
       if(transmitReceived == 4) {command[3] = true;}//rightTurn
       if(transmitReceived == 40){command[3] = false;}
       if(transmitReceived == 5) {command[0] = false;//stop
                                  command[1] = false;
                                  command[2] = false;
                                  command[3] = false;}
       if(transmitReceived == 6) {command[4] = true;}//speed up
       if(transmitReceived == 60){command[4] = false;}
       if(transmitReceived == 7) {command[5] = true;}//slow down
       if(transmitReceived == 70){command[5] = false;}
       if(transmitReceived == 100){command[6] = true;} // closes connection
       else{};
       }
    
    catch (IOException ioe) {
       System.out.println("IO Exception readInt");
       }
    return command;
    
 }//End checkCommand
 
 public static void move(boolean[]D, int S)
 { 
  int movingSpeed;
  boolean[] direction = new boolean[4];

  direction[0] = D[0];
  direction[1] = D[1];
  direction[2] = D[2];
  direction[3] = D[3];
  
  movingSpeed = S;

  Motor.A.setSpeed(movingSpeed);
  Motor.C.setSpeed(movingSpeed);
 
  
  if(direction[0] == true)
    {
     Motor.A.forward();  
      Motor.C.forward();
      }
  
  if(direction[1] == true)
    {
     Motor.A.backward();  
      Motor.C.backward();
      }
    
  if(direction[2] == true)
    {
     Motor.A.setSpeed(turnSpeed);
      Motor.C.setSpeed(turnSpeed);
      Motor.A.forward();
      Motor.C.backward();
      }
    
  if(direction[3] == true)
    {
     Motor.A.setSpeed(turnSpeed);
      Motor.C.setSpeed(turnSpeed);
      Motor.A.backward(); 
      Motor.C.forward();
      }
   
  if(direction[0] == true && direction[2] == true)
    {
     speedBuffer =  (int) (movingSpeed *1.5);
      
     Motor.A.setSpeed(speedBuffer);
      Motor.C.forward();
      Motor.A.forward();
      }
    
  if(direction[0] == true && direction[3] == true)
    {
     speedBuffer =  (int) (movingSpeed *1.5);
      
     Motor.C.setSpeed(speedBuffer);
      Motor.C.forward();
      Motor.A.forward();
      }
        
  if(direction[1] == true && direction[2] == true)
    {
     speedBuffer =  (int) (movingSpeed *1.5);
      
     Motor.A.setSpeed(speedBuffer);
      Motor.C.backward();
      Motor.A.backward();
      }
    
  if(direction[1] == true && direction[3] == true)
    {
     speedBuffer =  (int) (movingSpeed *1.5);
        
      Motor.C.setSpeed(speedBuffer);
      Motor.C.backward();
      Motor.A.backward();
      }
    
    if(direction[0] == false && direction[1] == false &&
       direction[2] == false && direction[3] == false)
    {
      Motor.A.stop(true);
      Motor.C.stop();
      }
   
 }//End move
 
 public static void connect()
 {  
   System.out.println("Listening");
   USBLink = USB.waitForConnection();
   dataOut = USBLink.openDataOutputStream();
   dataIn = USBLink.openDataInputStream();

 }//End connect
 
 public static void disconnect() throws java.io.IOException
 {  
   System.out.println("Closing press anu key...");
   dataOut.close();
   dataIn.close();
   Button.waitForAnyPress();
   USB.usbReset();
   System.exit(0);
 }//End connect

 public static int getSpeed(boolean[] D)
 {
    boolean accelerate, decelerate;
  
     accelerate = D[4];
     decelerate = D[5];
     
     if(accelerate == true)
     {
        speed += 50;
        command[4] = false;
        }
     
     if(decelerate == true)
     {
        speed -= 50;
        command[5] = false;
        }
     
     return speed;
     }//End getSpeed
 
}//NXTtr Class