Page 124 - Hacking Roomba

Chapter 5 — Driving Roomba 105

Listing 5-6 shows the DriveRealTime program. It is launched from the command line as
usual:
% ./runit.sh roombacomm.DriveRealTime /dev/cu.KeySerial1

Figure 5-8 shows what it looks like after a few seconds of use.

FIGURE 5-8: DriveRealTime program in use

DriveRealTime subclasses a JFrame (an application window in Java Swing).The setupWindow()
method holds all the things necessary to make the window work properly. Most important is
addKeyListener(this), which will make the keyPressed() method of DriveRealTime
get called whenever you press a key. The last thing setupWindow() does is show the window
with setVisible(true). To make the program a little more visually interesting, a JTextArea
is created and whenever you press a key, the text area is updated with the command you pressed
through updateDisplay().

Listing 5-6: DriveRealTime.java

public class DriveRealTime extends JFrame implements KeyListener {
RoombaCommSerial roombacomm;
JTextArea displayText;
public static void main(String[] args) {
new DriveRealTime(args);
}
public DriveRealTime(String[] args) {
super(“DriveRealTime”);
String portname = args[0];
roombacomm = new RoombaCommSerial();
Continued