1.2-Brobot/Bluetooth.java

package boebot;
import stamp.core.*;
public class Bluetooth
{
  final static int SERIAL_RX_PIN  = CPU.pin2;
  final static int SERIAL_TX_PIN  = CPU.pin0;

  static Uart rxUart = new Uart(Uart.dirReceive, SERIAL_RX_PIN, Uart.dontInvert, Uart.speed9600, Uart.stop1);
  static Uart txUart = new Uart(Uart.dirTransmit, SERIAL_TX_PIN,Uart.dontInvert, Uart.speed9600, Uart.stop1);

  char tempChar;
  char[] route = new char[40];
  char romoteControl = ' ';

  public int checkBt()
  {
    if (rxUart.byteAvailable())
    {
      tempChar = (char)rxUart.receiveByte();

      if (tempChar == '?')
      {
        int i = 0;
        clearRoute();

        while (true)
        {
          if (rxUart.byteAvailable())
          {
            tempChar = (char)rxUart.receiveByte();

            if(tempChar == '?')
            {
              return 2;
            }

            route[i] = tempChar;
            i ++;
          }

        }

                }
        }
        else if (tempChar == '!')
        {
                        int i = 0;
                        clearRoute();

                        while (true)
                        {
                          if (rxUart.byteAvailable())
                          {
                                        tempChar = (char)rxUart.receiveByte();

                                        if(tempChar == '!')
                                        {
                                          route[i] = tempChar;
                                          return 3;
                                        }

                                        route[i] = tempChar;
                                        i ++;
                          }
                        }
        }else if ((tempChar == 'a') || (tempChar =='v') || (tempChar == 'l') || (tempChar == 'r') || (tempChar == 's'))
      {
        romoteControl = tempChar;
        return 1;
      }

       return 0;
  }

  public char[] getRoute()
  {
    return route;
  }

  public int[] getCoordinates()
  {
    String[] dataString = new String[40];
    int[] dataInt = new int[7];
    String coordinate = "";
    int StringArrayCount = 0;
    int intArrayCount = 0;

    for (int i = 0; route.length > i; i ++)
    {

      if (route[i] != ',' && route[i] != '!')
      {
        coordinate += new String(new char[]{route[i]});
      }

      if (route[i] == ',')
      {

        dataString[StringArrayCount] = coordinate;
        coordinate = "";
        StringArrayCount ++;
      }

      if (route[i] == '!')
      {
          i = route.length;
                  StringArrayCount = 0;
      }
    }

    for (int i = 0; dataString.length > i; i ++)
    {
        if (dataString[i] != null)
        {

            dataInt[intArrayCount] = Integer.parseInt(dataString[i]);
            intArrayCount ++;
        }

        if (dataString[i] == null)
        {
                        intArrayCount = 0;
                        return dataInt;
        }
    }
    return dataInt;
  }

  public int getRemoteControl()
  {
    int value = 4;

    switch (romoteControl)
    {
      case 'v':
        value = 1;
        break;
      case 'a':
        value = 7;
        break;
      case 's':
        value = 4;
        break;
      case 'r':
        value = 5;
        break;
      case 'l':
        value = 3;
        break;
      default:
        value = 4;
        break;
    }

    return value;
  }

  public void clearRoute()
  {
    for(int i = 0; i < 40; i++)
    {
      route[i] = ' ';
    }
  }
}