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Initial commit of RCX Java API
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‎COPYRIGHT

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Copyright (C) 1998-2002 Dario Laverde
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

‎README.md

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# RCX-Java-API
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A platform-independent Java library used to develop RCX applications
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# RCX Java API
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A platform-independent Java library used to develop RCX applications
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[Archive of Original Website](http://web.archive.org/web/20070628162541/http://www.escape.com/~dario/java/rcx/)
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Please refer to the archived website for instructions and usage.

‎applet/RCXApplet.java

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import java.applet.*;
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import java.awt.*;
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public class RCXApplet extends Applet
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{
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private RCXControl controlPanel;
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public void init() {
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setBackground(Color.yellow);
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String portName = getParameter("rcxport");
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controlPanel = new RCXControl(portName);
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add(controlPanel);
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}
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}
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‎applet/RCXControl.java

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import java.awt.*;
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import java.awt.event.*;
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import java.io.*;
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import java.util.*;
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import rcx.RCXPort;
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import rcx.RCXErrorListener;
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import rcx.Motor;
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import rcx.Sensor;
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import rcx.SensorConstants;
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public class RCXControl extends Panel implements ActionListener,
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RCXErrorListener, Runnable
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{
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private String portName;
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private RCXPort rcxPort;
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private Thread thisThread;
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private boolean isRunning;
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private Panel topPanel,bottomPanel;
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private TextField sensorField1,sensorField2,sensorField3;
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private Panel motorPanel1,motorPanel2,motorPanel3;
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private Button motor1fwd,motor1bwd,motor1stop,motor1float;
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private Button motor2fwd,motor2bwd,motor2stop,motor2float;
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private Button motor3fwd,motor3bwd,motor3stop,motor3float;
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private int s1value,s1prevalue,s2value,s2prevalue,s3value,s3prevalue;
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public RCXControl(String portname) {
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portName = portname;
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topPanel = new Panel();
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topPanel.setLayout(new FlowLayout(FlowLayout.CENTER,4,4));
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bottomPanel = new Panel();
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bottomPanel.setLayout(new FlowLayout(FlowLayout.CENTER,5,5));
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motorPanel1 = new Panel();
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motorPanel1.setLayout(new BorderLayout(5,5));
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motorPanel2 = new Panel();
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motorPanel2.setLayout(new BorderLayout(5,5));
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motorPanel3 = new Panel();
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motorPanel3.setLayout(new BorderLayout(5,5));
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sensorField1 = new TextField(9);
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sensorField1.setEditable(false);
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sensorField1.setEnabled(false);
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sensorField2 = new TextField(9);
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sensorField2.setEditable(false);
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sensorField2.setEnabled(false);
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sensorField3 = new TextField(9);
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sensorField3.setEditable(false);
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sensorField3.setEnabled(false);
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motor1fwd = new Button("forward");
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motor1fwd.addActionListener(this);
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motor2fwd = new Button("forward");
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motor2fwd.addActionListener(this);
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motor3fwd = new Button("forward");
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motor3fwd.addActionListener(this);
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motor1bwd = new Button("backward");
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motor1bwd.addActionListener(this);
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motor2bwd = new Button("backward");
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motor2bwd.addActionListener(this);
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motor3bwd = new Button("backward");
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motor3bwd.addActionListener(this);
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motor1stop = new Button("stop");
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motor1stop.addActionListener(this);
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motor2stop = new Button("stop");
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motor2stop.addActionListener(this);
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motor3stop = new Button("stop");
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motor3stop.addActionListener(this);
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motor1float = new Button("float");
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motor1float.addActionListener(this);
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motor2float = new Button("float");
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motor2float.addActionListener(this);
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motor3float = new Button("float");
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motor3float.addActionListener(this);
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topPanel.add(sensorField1);
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topPanel.add(sensorField2);
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topPanel.add(sensorField3);
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motorPanel1.add(motor1fwd,"North");
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motorPanel1.add(motor1bwd,"South");
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motorPanel1.add(motor1float,"East");
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motorPanel1.add(motor1stop,"West");
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motorPanel2.add(motor2fwd,"North");
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motorPanel2.add(motor2bwd,"South");
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motorPanel2.add(motor2float,"East");
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motorPanel2.add(motor2stop,"West");
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motorPanel3.add(motor3fwd,"North");
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motorPanel3.add(motor3bwd,"South");
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motorPanel3.add(motor3float,"East");
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motorPanel3.add(motor3stop,"West");
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bottomPanel.add(motorPanel1);
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bottomPanel.add(motorPanel2);
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bottomPanel.add(motorPanel3);
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setLayout(new BorderLayout());
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add(topPanel,"North");
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add(bottomPanel,"South");
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setBackground(Color.yellow);
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thisThread = new Thread(this);
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thisThread.start();
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}
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public void run() {
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rcxPort = new RCXPort(portName);
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rcxPort.addRCXErrorListener(this);
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Sensor.S1.setTypeAndMode(SensorConstants.SENSOR_TYPE_LIGHT,
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SensorConstants.SENSOR_MODE_PCT);
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Sensor.S2.setTypeAndMode(SensorConstants.SENSOR_TYPE_LIGHT,
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SensorConstants.SENSOR_MODE_PCT);
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Sensor.S3.setTypeAndMode(SensorConstants.SENSOR_TYPE_LIGHT,
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SensorConstants.SENSOR_MODE_PCT);
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isRunning=true;
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sensorField1.setText("0");
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sensorField2.setText("0");
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sensorField3.setText("0");
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while(isRunning) {
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// this delay can be adjusted or eliminated
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try{Thread.sleep(1000);}catch(Exception e) { }
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s1value=Sensor.S1.readValue();
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if(s1value!=s1prevalue) {
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s1prevalue=s1value;
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sensorField1.setText(Integer.toString(s1value));
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}
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s2value=Sensor.S2.readValue();
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if(s2value!=s2prevalue) {
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s2prevalue=s2value;
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sensorField2.setText(Integer.toString(s2value));
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}
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s3value=Sensor.S3.readValue();
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if(s3value!=s3prevalue) {
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s3prevalue=s3value;
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sensorField3.setText(Integer.toString(s3value));
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}
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}
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}
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public void actionPerformed(ActionEvent e) {
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Object obj = e.getSource();
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if(obj==motor1fwd) {
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Motor.A.forward();
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}
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else if(obj==motor1bwd) {
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Motor.A.backward();
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}
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else if(obj==motor1stop) {
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Motor.A.stop();
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}
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else if(obj==motor1float) {
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Motor.A.flt();
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}
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else if(obj==motor2fwd) {
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Motor.B.forward();
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}
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else if(obj==motor2bwd) {
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Motor.B.backward();
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}
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else if(obj==motor2stop) {
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Motor.B.stop();
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}
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else if(obj==motor2float) {
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Motor.B.flt();
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}
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else if(obj==motor3fwd) {
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Motor.C.forward();
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}
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else if(obj==motor3bwd) {
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Motor.C.backward();
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}
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else if(obj==motor3stop) {
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Motor.C.stop();
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}
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else if(obj==motor3float) {
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Motor.C.flt();
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}
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}
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public void receivedError(String error) {
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System.err.println("Error: "+error);
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close();
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}
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public void close() {
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isRunning=false;
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if(rcxPort!=null)
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rcxPort.close();
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}
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}

‎applet/RCXControlApp.java

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import java.awt.*;
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import java.awt.event.*;
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import java.io.*;
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import java.util.*;
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public class RCXControlApp extends Frame implements WindowListener
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{
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private RCXControl controlPanel;
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public static void main(String[] args) {
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if(args.length>0) {
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new RCXControlApp(args[0]);
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} else System.out.println("Usage: RCXControlApp portname");
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}
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public RCXControlApp(String portName) {
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super("RCX Control Application");
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addWindowListener(this);
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controlPanel = new RCXControl(portName);
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setLayout(new FlowLayout());
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add(controlPanel);
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Dimension screen = Toolkit.getDefaultToolkit().getScreenSize();
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setBounds(screen.width/5,screen.height/5,280,150);
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setVisible(true);
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}
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public void windowActivated(WindowEvent e) { }
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public void windowClosed(WindowEvent e) { }
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public void windowDeactivated(WindowEvent e) { }
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public void windowDeiconified(WindowEvent e) { }
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public void windowIconified(WindowEvent e) { }
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public void windowOpened(WindowEvent e) { }
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public void windowClosing(WindowEvent e) {
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if(controlPanel !=null)
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controlPanel.close();
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System.exit(0);
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}
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}

‎applet/RCXSensorEmulation.java

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import java.awt.*;
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import java.awt.event.*;
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import java.io.*;
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import java.util.*;
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import rcx.Sensor;
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public class RCXSensorEmulation implements Runnable
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{
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private Thread thisThread;
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private boolean isRunning;
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public RCXSensorEmulation() {
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thisThread = new Thread(this);
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thisThread.start();
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}
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public void run() {
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isRunning=true;
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while(isRunning) {
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try {Thread.sleep(1000);} catch(Exception e) { }
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switch((int)(Math.random()*5)+1) {
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case 1: Sensor.S1.setPreviousValue((int)(Math.random()*1024)+1);
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break;
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case 2: Sensor.S2.setPreviousValue((int)(Math.random()*1024)+1);
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break;
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case 3: Sensor.S3.setPreviousValue((int)(Math.random()*1024)+1);
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break;
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case 4: try {Thread.sleep(3000);} catch(Exception e) { }
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break;
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}
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}
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}
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public void stop() {
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isRunning=false;
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}
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}
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‎applet/RCXSimpleTest.java

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import rcx.RCXPort;
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import rcx.RCXErrorListener;
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public class RCXSimpleTest implements RCXErrorListener {
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public static void main(String[] args) {
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String cmd = null;
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if(args.length>0)
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cmd = args[0];
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new RCXSimpleTest(cmd);
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}
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public RCXSimpleTest(String cmd) {
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RCXPort port = new RCXPort(cmd);
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port.addRCXErrorListener(this);
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// set motor A direction (forwards)
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port.send("e181");
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// turn motor A on
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port.send("2181");
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// play sound
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port.send("5105");
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//delay for a sec
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try { Thread.sleep(1000); } catch(Exception e) { }
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// turn motor A off (float, 2141 is stop)
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port.send("2141");
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}
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public void receivedMessage(byte[] message) {
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// simply convert to String and print the message
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StringBuffer strbuffer = new StringBuffer();
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for(int loop = 0; loop < message.length; loop++) {
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int abyte = (int) message[loop];
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if (abyte < 0) abyte += 256;
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strbuffer.append(Integer.toHexString(abyte) + " ");
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}
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System.out.println("Response: " + strbuffer.toString());
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}
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public void receivedError(String error) {
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System.err.println("Error: " + error);
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}
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}

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