It should be noted that this is an ongoing project until at least May 15, 2002. The source code herein may be changed at anytime witihout notice. This is a development project and we assume no liablity for its use. In fact we strongly discourage any use of this software for other then educational purposes. Modifications may be made and redistributed so long as no profit is made and credit is given back to the original creators. (7,554 bytes)

Everything all in one nice easy package. currently includes seven .java files. (1,773 bytes)

The wait state and some other implementations the heart of the software package. Starts server and calls functions to start BatteryDetector thread. ~100% complete (2,107 bytes)

The thread that runs along side main server. Used to monitor and decide when it is time to FIND the docking station. 75+% complete (2,686 bytes)

All communications to and from the robot are via this class. It should be possible to adapt this software to run on any robotics platform by simply altering the way this file interfaces with the robot. In our case we are interfacing with software provided by ActivMedia. 95+% complete (3,125 bytes)

This is the essence of what makes this project way cooler then the ones previously done here at Bradley University This is where the robot maintains its internal position and thereby knows how to return home. This is a major work in progress and currently does not work. 10% complete (1,886 bytes)

Created by Dr. Malinowski this file allows the java server to communicate with and call functions from the C/C++ libraries that previously existed. The use of primitive return types has been somewhat limiting the work arounds can be seen in other files. 100% complete (3,722 bytes)

This file uses JavaMail which is available for download from to email the admin whenever the server is shutdown. It also attaches a log file of important events which have occurred during execution (great for debugging). 95% complete (4,975 bytes)

This is called whenever a new user connects to the server. A client # is assigned and persons may request control of the robot. This is mostly done but being revamped for continual batterydetection not just while a user is connected. 80% complete