/* Dexter Travis Bradley University 2001/2002 Senior Project Botdock http://pioneer1.bradley.edu http://cegt201.bradley.edu/projects/proj2002/botdock/ */ //created by Dr. Malinowski to interface with existing C functions public class JSaphira { public static final int paiSTATUSNOPOWER=1; public static final int paiSTATUSSTOPPED=2; public static final int paiSTATUSMOVING =3; public static native int paiRobotStartup(int comn); // (int channel, char *name, HANDLE hInst, int nCmdShow) public static native void paiRobotShutdown(); public static native void paiResetRobotPosition(); public static native float paiRobotX();//return robot position X public static native float paiRobotY();//return robot position Y public static native float paiRobotHeading(); public static native float paiRobotTransVel(); public static native int paiRobotStall(); public static native int paiRobotStatus(); public static native void paiSetRobotVelocity(int vel); public static native void paiSetMoveVelocity(int vel);//set move velocity from 0-100% public static native void paiMoveRobot(int dist);//moves robot a distance in 10ths of centimeter public static native void paiStopRobot();//STOP everything NOW public static native float paiRobotRotVel();//determine current velocity of rotation public static native void paiSetRobotRotVel(float vel);//change velocity of rotation public static native void paiRotateRobot(float radians);//rotate the robot +/- radians public static native void paiSetRobotHeading(float radians);//redefine the current heading public static native int paiSonarRange(int num); public static native void paiSetSonarPolling(int on); // sets all sonars to on or off public static native float paiBatteryVoltage();//return the battery voltage of the robot. // static constructor static { System.loadLibrary("JSaphira"); } }