Some generic changes that were done without forethought (bug fixes?)

jointheleague · Jan 13, 2018 · ee7907e · ee7907e
1 parent 919962a
commit ee7907e
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Showing 4 changed files with 67 additions and 5 deletions.
diff --git a/src/main/java/org/jointheleague/jcodrone/Flight.java b/src/main/java/org/jointheleague/jcodrone/Flight.java
@@ -48,14 +48,14 @@ public static void stop(CoDrone coDrone) throws MessageNotSentException {
         sendFlightEvent(coDrone, FlightEvent.STOP);
     }
 
-    public static void flyDirect(CoDrone coDrone, DirectControl control) throws MessageNotSentException {
+    public static void flyDirect(CoDrone coDrone, DirectControl control) {
         Control message = new Control(
                 control.getRoll(),
                 control.getPitch(),
                 control.getYaw(),
                 control.getThrottle()
         );
-        coDrone.sendMessageWait(message);
+        coDrone.sendMessage(message);
     }
 
     private static void sendInFlightEvent(CoDrone coDrone, FlightEvent event) throws MessageNotSentException {

diff --git a/src/main/java/org/jointheleague/jcodrone/LightModeBuilder.java b/src/main/java/org/jointheleague/jcodrone/LightModeBuilder.java
@@ -44,7 +44,7 @@ public LightModeBuilder setColor(Color color) {
             log.warn("Value of colors is being overridden by setColor for light mode.");
         }
         this.color = color;
-        this.colorsSet = true;
+        this.colorSet = true;
         return this;
     }
 

diff --git a/src/main/java/org/jointheleague/jcodrone/examples/DomDrone.java b/src/main/java/org/jointheleague/jcodrone/examples/DomDrone.java
@@ -0,0 +1,50 @@
+package org.jointheleague.jcodrone.examples;
+
+import org.jointheleague.jcodrone.CoDrone;
+import org.jointheleague.jcodrone.CoDroneNotFoundException;
+import org.jointheleague.jcodrone.LightModeBuilder;
+import org.jointheleague.jcodrone.MessageNotSentException;
+import org.jointheleague.jcodrone.protocol.light.LightMode;
+import org.jointheleague.jcodrone.protocol.light.LightModeDrone;
+
+public class DomDrone {
+
+    public static final int TIME_UNIT = 250;
+
+    public static void main(String args[]) {
+        try (CoDrone drone = new CoDrone()) {
+            drone.connect();
+//            Thread.sleep(2000);
+//            LightMode mode= new LightModeBuilder().setColor("BLUE").setMode(LightModeDrone.EYE_HOLD).build();
+//            drone.lightMode(mode);
+//            Thread.sleep(2000);
+//            mode= new LightModeBuilder().setColor("orange").setMode(LightModeDrone.ARM_NONE).build();
+//            drone.lightMode(mode);
+//            Thread.sleep(2000);
+            drone.land();
+            Thread.sleep(2000);
+
+            String pattern = "...---...";
+            for (byte a : pattern.getBytes()) {
+                int interval = a == '.' ? TIME_UNIT : 3 * TIME_UNIT;
+                System.out.format("%c %d", a, interval);
+                LightMode mode2 = new LightModeBuilder()
+                        .setColor("magenta")
+                        .setMode(LightModeDrone.EYE_HOLD)
+                        .build();
+                drone.lightMode(mode2);
+                Thread.sleep(interval);
+                mode2 = new LightModeBuilder()
+                        .setColor("magenta")
+                        .setMode(LightModeDrone.EYE_NONE)
+                        .build();
+                drone.lightMode(mode2);
+                Thread.sleep(TIME_UNIT);
+            }
+            Thread.sleep(2000);
+            drone.land();
+        } catch (CoDroneNotFoundException | InterruptedException | MessageNotSentException e) {
+            e.printStackTrace();
+        }
+    }
+}
diff --git a/...org/jointheleague/jcodrone/TestPorts.java → ...heleague/jcodrone/examples/TestPorts.java b/...org/jointheleague/jcodrone/TestPorts.java → ...heleague/jcodrone/examples/TestPorts.java
@@ -1,5 +1,8 @@
-package org.jointheleague.jcodrone;
+package org.jointheleague.jcodrone.examples;
 
+import org.jointheleague.jcodrone.CoDrone;
+import org.jointheleague.jcodrone.DirectControl;
+import org.jointheleague.jcodrone.LightModeBuilder;
 import org.jointheleague.jcodrone.protocol.light.LightMode;
 import org.jointheleague.jcodrone.protocol.light.LightModeDrone;
 
@@ -10,8 +13,17 @@ public static void main(String argx[]) {
             Thread.sleep(2000);
             drone.flyDirect(new DirectControl((byte) 0, (byte) 0, (byte) 0, (byte) 0));
             Thread.sleep(200);
+//            for(int i = 0; i < 1080; i++) {
+//                Color c = Color.getHSBColor(i / 360.0f, 1.0f, 1.0f);
+//                LightMode mode2 = new LightModeBuilder().setColor(c.getRed(), c.getGreen(), c.getBlue()).setMode(LightModeDrone.EYE_HOLD).build();
+//                drone.lightMode(mode2);
+//                Thread.sleep(60);
+//            }
             drone.takeoff();
             Thread.sleep(2000);
+            drone.flyDirect(new DirectControl((byte) 0, (byte) 0, (byte) 0, 30));
+            Thread.sleep(2000);
+
             for (int i = 0; i < 3; i++) {
                 LightMode mode = new LightModeBuilder().setColor("BLUE").setInterval(5).setMode(LightModeDrone.EYE_HOLD).build();
                 drone.lightMode(mode);
@@ -21,7 +33,7 @@ public static void main(String argx[]) {
                 mode = new LightModeBuilder().setColor("RED").setInterval(5).setMode(LightModeDrone.EYE_HOLD).build();
                 drone.lightMode(mode);
                 Thread.sleep(100);
-                drone.flyDirect(new DirectControl((byte) 0, (byte) 0, (byte) -55, -20));
+                drone.flyDirect(new DirectControl((byte) 0, (byte) 0, (byte) -55, -15));
                 Thread.sleep(2000);
             }
             drone.flyDirect(new DirectControl((byte) 0, (byte) 0, (byte) 0, (byte) 0));