EmotControl

This library provides a convenient Java interface to interact with our hardware. The library also provides properties via string resources:

<string-array name="arm_actions_array">
    <item>Stable</item>
    <item>Up</item>
    <item>Down</item>
</string-array>

<string-array name="led_colors_array">
    <item>Black</item>
    <item>White</item>
    <item>Green</item>
    <item>Red</item>
    <item>Yellow</item>
    <item>Blue</item>
    <item>DarkBlue</item>
</string-array>

<string-array name="emotions_array">
    <item>Reset</item>
    <item>Angry</item>
    <item>Happy</item>
    <item>Sad</item>
    <item>Fear</item>
    <item>Disgust</item>
    <item>Surprise</item>
</string-array>

So you can access and use them at your convenience. For example:

ArrayAdapter.createFromResource(this, R.array.arm_actions_array, ...);

Setting Up

• Obtain AAR
• File -> Add module -> Import AAR
• In the project's settings.gradle: make sure the library module is included (should have been included automatically). It should read include ':your-app-name', ':libcontrol-release'.
• In the project's build.gradle: add maven { url "https://jitpack.io" } to repository list. So it looks like: (this is because we depend on a USB library hosted there)

allprojects {
    repositories {
        jcenter()
        maven { url "https://jitpack.io" }
    }
}

• In the app's build.gradle: add two dependencies - a USB library and our library. So it looks like:

dependencies {
    compile 'com.github.felHR85:UsbSerial:4.5'
    compile project(':libcontrol-release')
    ...
}

• Important! Register org.emot.libcontrol.UsbService in your AndroidManifest.xml. So it looks like:

<application
    ...
    <activity android:name=".MainActivity">
        ...
    </activity>
    <service
        android:name="org.emot.libcontrol.UsbService"
        android:enabled="true" />
</application>

• Import stuffs from org.emot.libcontrol and play!

Using the Library

The quickest way to learn how to use the library is to look through the demo app, which is included in this repository.

You must call EmotControl.initialize(), onPause(), onResume() at the corresponding time of the app's lifecycle.

Methods available:

static void setArm(Arms which, ArmActions action);
static void setLed(Leds which, int r, int g, int b);
static void setLed(Leds which, LedColors presetColor);
static void setEmotion(Emotions which);

Protocol

Downlink: from Android to Arduino

Data: control signals for two arms and two leds. Format: 4 bytes per message.

    R   G   B
01  __  __  __    left  LED RGB       LED messages
02  __  __  __    right LED RGB

00 'l' 'u'  __    left  arm up        Arm messages
00 'l' 's'  __    left  arm steady
00 'l' 'd'  __    left  arm down
00 'r' 'u'  __    right arm up
00 'r' 's'  __    right arm steady
00 'r' 'd'  __    right arm down

Uplink: from Arduino to Android

Data: pressure sensor value. 32-bit floating point. Format: "%6.2f %6.2f"