////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Program: ROOMBA_TEMPLATE
// Description: - This a template for any Roomba program. In order to use this, simple place code in the 'while' loop in place of "// ((>>>>]]}- PLACE CODE HERE -{[[<<<<))"
//              - As a Disclaimer, this loops much more complicated than it is...
//
// Drexelized By: Peter Thai - [pwt23@drexel.edu]
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

// This imports the libraries necessary for communicating with Roomba (namely RoomabComm)
    import roombacomm.*;
    import roombacomm.net.*;


//This stops Roomba and disconnects it from your computer.
    String roombacommPort = "[DELETE THIS AND ENTER YOUR ROOMBA PORT]"; // <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<::::::::::::: ENTER YOUR ROOMBA PORT :::::::::::::
    //String roombacommPort = "/dev/cu.RooTooth-COM0-1";
    boolean hwhandshake = false; 
    RoombaCommSerial roombacomm = new RoombaCommSerial();
    roombacomm.waitForDSR = hwhandshake;

    
// If Roomba fails to connect, it will print out an error and terminate the program 
    if ( ! roombacomm.connect(roombacommPort) )
        {
            println("Couldn't connect to "+roombacommPort);
            System.exit(1);  
        }


// Once Roomba is connected, it will perform the following actions to indicate it has connected
    println("Roomba startup on port"+roombacommPort); // Prints out the Port on which Roomba is connected
    roombacomm.startup();
    roombacomm.control(); // Puts Roomba in "Safe Mode"
    roombacomm.playNote(72,50); // Plays a note
    roombacomm.pause(100); // Pauses Roomba while note is being played
    roombacomm.updateSensors(); // Updates the state of all sensors 
    
    
// This is the main loop. It is executed continuously until the variable 'done' is set to true
    boolean done = false; // This instantiates the variable 'done' and sets it to false
    while (!done) 
        {
            ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
            // ::::::::::::: START CODE (Code goes between this thing and.... *look down*) :::::::::::::
            ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////


            //[DELETE THIS LINE AND ENTER YOUR OWN CODE!]
            

            ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
            // ::::::::::::: END CODE (Code goes between this thing and... *look up*) :::::::::::::
            ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
        }

     
//This stops Roomba and disconnects it from your computer.
    roombacomm.stop(); 
    roombacomm.disconnect();