Page 145 - Hacking Roomba

126 Part I — Interfacing

Spying on Roomba

With all these new sensor tools at your disposal, you can now create a program to spy on
Roomba as it goes about its business. Listing 6-7 shows the main() method of a simple
Spy.java program.

Listing 6-7: The main() Method of Spy.java

static int pausetime = 500;
public static void main(String[] args) {
// standard RoombaComm setup
boolean done = false;
while( !done ) {
roombacomm.updateSensors();
printSensors(roombacomm);
roombacomm.pause(pausetime);
done = keyIsPressed();
}
}
public static void printSensors(RoombaCommSerial rc) {
System.out.println( System.currentTimeMillis() + “:”+
“bump:” +
(rc.bumpLeft()?”l”:”_”) +
(rc.bumpRight()?”r”:”_”) +
“ wheel:” +
(rc.wheelDropLeft() ?”l”:”_”) +
(rc.wheelDropCenter()?”c”:”_”) +
(rc.wheelDropLeft() ?”r”:”_”) );
}

By now you know what all the bits do, and the result is pretty simple, with all the hard parts
hidden away. The following is what you might see if you ran the Spy program for a few sec-
onds, it bumped into you, and then you picked it up:
1148355917865:bump:_r wheel:___
1148355918417:bump:lr wheel:___
1148355918969:bump:__ wheel:___
1148355919529:bump:__ wheel:___
1148355920089:bump:l_ wheel:_c_
1148355920649:bump:__ wheel:___
1148355921202:bump:_r wheel:_c_
1148355921754:bump:_r wheel:_c_
1148355922306:bump:_r wheel:lcr
1148355922907:bump:_r wheel:lcr
1148355923459:bump:_r wheel:lcr
1148355924011:bump:_r wheel:lcr