+
+ public static class AvrDrone {
+ final DataInputStream in;
+ final DataOutputStream out;
+ final SerialPort sp;
+ public AvrDrone(SerialPort sp) throws IOException, UnsupportedCommOperationException, InterruptedException {
+ this.sp = sp;
+ sp.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
+ sp.setFlowControlMode(sp.FLOWCONTROL_RTSCTS_OUT);
+ this.out = new DataOutputStream(sp.getOutputStream());
+ this.in = new DataInputStream(sp.getInputStream());
+ while(in.available() > 0) in.read();
+ reset();
+ System.err.println("waiting...");
+ if (in.readByte() != (byte)'O') throw new RuntimeException("didn't get the proper signature");
+ if (in.readByte() != (byte)'B') throw new RuntimeException("didn't get the proper signature");
+ if (in.readByte() != (byte)'I') throw new RuntimeException("didn't get the proper signature");
+ if (in.readByte() != (byte)'T') throw new RuntimeException("didn't get the proper signature");
+ if (in.readByte() != (byte)'S') throw new RuntimeException("didn't get the proper signature");
+ if (in.readByte() != (byte)'\n') throw new RuntimeException("didn't get the proper signature");
+ System.err.println("ready.");
+ }
+ public void reset() throws InterruptedException {
+ sp.setDTR(true);
+ Thread.sleep(500);
+ sp.setDTR(false);
+ Thread.sleep(3000);
+ }
+ public void mode4(int z, int y, int x, int d) throws IOException {
+ out.writeByte(1);
+ out.writeByte(z);
+ out.writeByte(y);
+ out.writeByte(x);
+ out.writeByte(d);
+ }
+ public void flush() throws IOException {
+ out.flush();
+ }
+ }
+
+