From bdbe1abed288949284ec3ed6e12c26e6914c0494 Mon Sep 17 00:00:00 2001
From: Ytai Ben-Tsvi <ytaibt@gmail.com>
Date: Mon, 12 May 2014 00:02:21 -0700
Subject: [PATCH] ShoeBot: Move to master

Changed ShoeBot to work with the motor control sequencer instead of
relying on custom firmware.
Also, prevent the screen from turning off.
---
 software/applications/ShoeBot/.classpath      |   9 +
 software/applications/ShoeBot/.project        |  33 ++
 .../applications/ShoeBot/AndroidManifest.xml  |  26 ++
 software/applications/ShoeBot/lint.xml        |   4 +
 software/applications/ShoeBot/proguard.cfg    |  40 ++
 .../applications/ShoeBot/project.properties   |  16 +
 .../ShoeBot/res/drawable-hdpi/icon.png        | Bin 0 -> 4147 bytes
 .../ShoeBot/res/drawable-ldpi/icon.png        | Bin 0 -> 1723 bytes
 .../ShoeBot/res/drawable-mdpi/icon.png        | Bin 0 -> 2574 bytes
 .../ShoeBot/res/drawable/ioio_down.png        | Bin 0 -> 9321 bytes
 .../applications/ShoeBot/res/layout/main.xml  |  21 +
 .../ShoeBot/res/values/strings.xml            |   4 +
 .../ShoeBot/res/xml/accessory_filter.xml      |   4 +
 .../applications/shoebot/ShoebotActivity.java | 428 ++++++++++++++++++
 .../ioio/applications/shoebot/TcpServer.java  |  61 +++
 15 files changed, 646 insertions(+)
 create mode 100644 software/applications/ShoeBot/.classpath
 create mode 100644 software/applications/ShoeBot/.project
 create mode 100644 software/applications/ShoeBot/AndroidManifest.xml
 create mode 100644 software/applications/ShoeBot/lint.xml
 create mode 100644 software/applications/ShoeBot/proguard.cfg
 create mode 100644 software/applications/ShoeBot/project.properties
 create mode 100644 software/applications/ShoeBot/res/drawable-hdpi/icon.png
 create mode 100644 software/applications/ShoeBot/res/drawable-ldpi/icon.png
 create mode 100644 software/applications/ShoeBot/res/drawable-mdpi/icon.png
 create mode 100644 software/applications/ShoeBot/res/drawable/ioio_down.png
 create mode 100644 software/applications/ShoeBot/res/layout/main.xml
 create mode 100644 software/applications/ShoeBot/res/values/strings.xml
 create mode 100644 software/applications/ShoeBot/res/xml/accessory_filter.xml
 create mode 100644 software/applications/ShoeBot/src/ioio/applications/shoebot/ShoebotActivity.java
 create mode 100644 software/applications/ShoeBot/src/ioio/applications/shoebot/TcpServer.java

diff --git a/software/applications/ShoeBot/.classpath b/software/applications/ShoeBot/.classpath
new file mode 100644
index 000000000..7bc01d9a9
--- /dev/null
+++ b/software/applications/ShoeBot/.classpath
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="gen"/>
+	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
+	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
+	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.DEPENDENCIES"/>
+	<classpathentry kind="output" path="bin/classes"/>
+</classpath>
diff --git a/software/applications/ShoeBot/.project b/software/applications/ShoeBot/.project
new file mode 100644
index 000000000..69b5a17ae
--- /dev/null
+++ b/software/applications/ShoeBot/.project
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ShoeBot</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.PreCompilerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ApkBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.android.ide.eclipse.adt.AndroidNature</nature>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>
diff --git a/software/applications/ShoeBot/AndroidManifest.xml b/software/applications/ShoeBot/AndroidManifest.xml
new file mode 100644
index 000000000..36f2cd080
--- /dev/null
+++ b/software/applications/ShoeBot/AndroidManifest.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+	package="ioio.applications.shoebot" android:versionCode="1"
+	android:versionName="1.0">
+	<uses-sdk android:minSdkVersion="9" android:targetSdkVersion="10" />
+	<uses-permission android:name="android.permission.WAKE_LOCK"/>
+	<application android:icon="@drawable/icon" android:label="@string/app_name">
+		<uses-library android:name="com.android.future.usb.accessory"
+			android:required="false" />
+
+		<activity android:name="ioio.applications.shoebot.ShoebotActivity"
+			android:label="@string/app_name"
+			android:launchMode="singleTask" android:screenOrientation="portrait">
+			<intent-filter>
+				<action android:name="android.intent.action.MAIN" />
+				<category android:name="android.intent.category.LAUNCHER" />
+			</intent-filter>
+			<intent-filter>
+				<action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED" />
+			</intent-filter>
+			<meta-data android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
+				android:resource="@xml/accessory_filter" />
+		</activity>
+	</application>
+
+</manifest>
\ No newline at end of file
diff --git a/software/applications/ShoeBot/lint.xml b/software/applications/ShoeBot/lint.xml
new file mode 100644
index 000000000..9c834f4b3
--- /dev/null
+++ b/software/applications/ShoeBot/lint.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<lint>
+    <issue id="HardcodedText" severity="ignore" />
+</lint>
\ No newline at end of file
diff --git a/software/applications/ShoeBot/proguard.cfg b/software/applications/ShoeBot/proguard.cfg
new file mode 100644
index 000000000..b1cdf17b5
--- /dev/null
+++ b/software/applications/ShoeBot/proguard.cfg
@@ -0,0 +1,40 @@
+-optimizationpasses 5
+-dontusemixedcaseclassnames
+-dontskipnonpubliclibraryclasses
+-dontpreverify
+-verbose
+-optimizations !code/simplification/arithmetic,!field/*,!class/merging/*
+
+-keep public class * extends android.app.Activity
+-keep public class * extends android.app.Application
+-keep public class * extends android.app.Service
+-keep public class * extends android.content.BroadcastReceiver
+-keep public class * extends android.content.ContentProvider
+-keep public class * extends android.app.backup.BackupAgentHelper
+-keep public class * extends android.preference.Preference
+-keep public class com.android.vending.licensing.ILicensingService
+
+-keepclasseswithmembernames class * {
+    native <methods>;
+}
+
+-keepclasseswithmembers class * {
+    public <init>(android.content.Context, android.util.AttributeSet);
+}
+
+-keepclasseswithmembers class * {
+    public <init>(android.content.Context, android.util.AttributeSet, int);
+}
+
+-keepclassmembers class * extends android.app.Activity {
+   public void *(android.view.View);
+}
+
+-keepclassmembers enum * {
+    public static **[] values();
+    public static ** valueOf(java.lang.String);
+}
+
+-keep class * implements android.os.Parcelable {
+  public static final android.os.Parcelable$Creator *;
+}
diff --git a/software/applications/ShoeBot/project.properties b/software/applications/ShoeBot/project.properties
new file mode 100644
index 000000000..b435ececa
--- /dev/null
+++ b/software/applications/ShoeBot/project.properties
@@ -0,0 +1,16 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system use,
+# "ant.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=Google Inc.:Google APIs:10
+android.library.reference.1=../../IOIOLib/target/android
+android.library.reference.2=../../IOIOLibAccessory
+android.library.reference.3=../../IOIOLibBT
+
+manifestmerger.enabled=true
diff --git a/software/applications/ShoeBot/res/drawable-hdpi/icon.png b/software/applications/ShoeBot/res/drawable-hdpi/icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..8074c4c571b8cd19e27f4ee5545df367420686d7
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diff --git a/software/applications/ShoeBot/res/drawable-ldpi/icon.png b/software/applications/ShoeBot/res/drawable-ldpi/icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..1095584ec21f71cd0afc9e0993aa2209671b590c
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diff --git a/software/applications/ShoeBot/res/layout/main.xml b/software/applications/ShoeBot/res/layout/main.xml
new file mode 100644
index 000000000..ea32da0cf
--- /dev/null
+++ b/software/applications/ShoeBot/res/layout/main.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout android:layout_width="match_parent" android:layout_height="match_parent" android:gravity="bottom|fill" xmlns:android="http://schemas.android.com/apk/res/android" android:orientation="vertical">
+    <LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content">
+        <ToggleButton android:id="@+id/enableButton" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_gravity="center" android:layout_margin="20px" android:layout_weight="1" android:enabled="false" android:textOff="OFF" android:textOn="ON"/>
+        <Button android:id="@+id/setButton" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_gravity="center" android:layout_weight="1" android:text="Set" android:enabled="false"/>
+        <Button android:id="@+id/driveButton" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_gravity="center" android:layout_weight="1" android:text="Drive" android:enabled="false"/>
+    </LinearLayout>
+	<ImageView android:layout_height="wrap_content" android:id="@+id/imageView1" android:layout_width="wrap_content" android:src="@drawable/ioio_down"></ImageView>
+	<TableLayout android:id="@+id/tableLayout1" android:layout_width="match_parent" android:layout_height="wrap_content" android:layout_gravity="bottom">
+		<TableRow android:id="@+id/tableRow1" android:layout_width="match_parent" android:layout_height="wrap_content">
+			<TextView android:id="@+id/p" android:layout_width="match_parent" android:layout_height="wrap_content" android:layout_weight="1" android:text="P" android:textAppearance="?android:attr/textAppearanceSmall"/>
+			<TextView android:id="@+id/i" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_weight="1" android:text="I" android:textAppearance="?android:attr/textAppearanceSmall"/>
+			<TextView android:id="@+id/d" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_weight="1" android:text="D" android:textAppearance="?android:attr/textAppearanceSmall"/>
+			<TextView android:id="@+id/s" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_weight="1" android:text="S" android:textAppearance="?android:attr/textAppearanceSmall"/>
+		</TableRow>
+		<TableRow android:id="@+id/tableRow2" android:layout_width="match_parent" android:layout_height="wrap_content">
+			<TextView android:id="@+id/e" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_weight="1" android:text="E" android:textAppearance="?android:attr/textAppearanceSmall"/>
+			<TextView android:id="@+id/t" android:layout_width="0dp" android:layout_height="wrap_content" android:layout_weight="1" android:text="T" android:textAppearance="?android:attr/textAppearanceSmall"/>
+		</TableRow>
+	</TableLayout>
+</LinearLayout>
\ No newline at end of file
diff --git a/software/applications/ShoeBot/res/values/strings.xml b/software/applications/ShoeBot/res/values/strings.xml
new file mode 100644
index 000000000..92573216d
--- /dev/null
+++ b/software/applications/ShoeBot/res/values/strings.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <string name="app_name">IOIO ShoeBot</string>
+</resources>
diff --git a/software/applications/ShoeBot/res/xml/accessory_filter.xml b/software/applications/ShoeBot/res/xml/accessory_filter.xml
new file mode 100644
index 000000000..77107c1ca
--- /dev/null
+++ b/software/applications/ShoeBot/res/xml/accessory_filter.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <usb-accessory model="IOIO"/>
+</resources>
diff --git a/software/applications/ShoeBot/src/ioio/applications/shoebot/ShoebotActivity.java b/software/applications/ShoeBot/src/ioio/applications/shoebot/ShoebotActivity.java
new file mode 100644
index 000000000..22bb7aea8
--- /dev/null
+++ b/software/applications/ShoeBot/src/ioio/applications/shoebot/ShoebotActivity.java
@@ -0,0 +1,428 @@
+package ioio.applications.shoebot;
+
+import ioio.applications.shoebot.TcpServer.LineListener;
+import ioio.lib.api.DigitalOutput;
+import ioio.lib.api.IOIO;
+import ioio.lib.api.Sequencer;
+import ioio.lib.api.exception.ConnectionLostException;
+import ioio.lib.util.BaseIOIOLooper;
+import ioio.lib.util.IOIOLooper;
+import ioio.lib.util.android.IOIOActivity;
+
+import java.io.IOException;
+
+import android.content.Context;
+import android.hardware.Sensor;
+import android.hardware.SensorEvent;
+import android.hardware.SensorEventListener;
+import android.hardware.SensorManager;
+import android.os.Bundle;
+import android.os.PowerManager;
+import android.view.View;
+import android.widget.Button;
+import android.widget.CompoundButton;
+import android.widget.CompoundButton.OnCheckedChangeListener;
+import android.widget.TextView;
+import android.widget.ToggleButton;
+
+public class ShoebotActivity extends IOIOActivity implements
+		SensorEventListener, LineListener {
+	public static final float STEPS_FREQ = 62500;
+
+	private Sequencer.ChannelConfig[] cfg_ = {
+			new Sequencer.ChannelConfigFmSpeed(Sequencer.Clock.CLK_62K5, 2, new DigitalOutput.Spec(
+					3)),
+			new Sequencer.ChannelConfigBinary(false, false, new DigitalOutput.Spec(2)),
+			new Sequencer.ChannelConfigFmSpeed(Sequencer.Clock.CLK_62K5, 2, new DigitalOutput.Spec(
+					14)),
+			new Sequencer.ChannelConfigBinary(false, false, new DigitalOutput.Spec(13)) };
+
+	private Sequencer.ChannelCueFmSpeed leftSteps_ = new Sequencer.ChannelCueFmSpeed();
+	private Sequencer.ChannelCueFmSpeed rightSteps_ = new Sequencer.ChannelCueFmSpeed();
+	private Sequencer.ChannelCueBinary leftDir_ = new Sequencer.ChannelCueBinary();
+	private Sequencer.ChannelCueBinary rightDir_ = new Sequencer.ChannelCueBinary();
+	private Sequencer.ChannelCue[] cue_ = {
+			leftSteps_, leftDir_, rightSteps_, rightDir_
+	};
+
+	private ToggleButton enableButton_;
+	private Button setButton_;
+	private Button driveButton_;
+	private TextView pTextView_;
+	private TextView iTextView_;
+	private TextView dTextView_;
+	private TextView tTextView_;
+	private TextView eTextView_;
+	private TextView sTextView_;
+	private TcpServer tcpServer_;
+	PowerManager.WakeLock wakeLock_;
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.main);
+		PowerManager pm = (PowerManager) getSystemService(Context.POWER_SERVICE);
+		wakeLock_ = pm.newWakeLock(PowerManager.SCREEN_DIM_WAKE_LOCK, "ShoeBot");
+
+		enableButton_ = (ToggleButton) findViewById(R.id.enableButton);
+		setButton_ = (Button) findViewById(R.id.setButton);
+		driveButton_ = (Button) findViewById(R.id.driveButton);
+
+		setButton_.setOnClickListener(new View.OnClickListener() {
+			@Override
+			public void onClick(View v) {
+				targetOrientation_ = orientation_;
+				errorInt_ = 0;
+			}
+		});
+
+		enableButton_.setOnCheckedChangeListener(new OnCheckedChangeListener() {
+			@Override
+			public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+				errorInt_ = 0;
+			}
+		});
+
+		SensorManager sm = (SensorManager) getSystemService(SENSOR_SERVICE);
+		orientationSensor_ = sm.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
+		gyroSensor_ = sm.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
+
+		gyroTimestamp_ = 0;
+		errorInt_ = 0;
+
+		sm.registerListener(this, orientationSensor_,
+				orientationSensor_.getMinDelay());
+		sm.registerListener(this, gyroSensor_, SensorManager.SENSOR_DELAY_GAME);
+
+		pTextView_ = (TextView) findViewById(R.id.p);
+		iTextView_ = (TextView) findViewById(R.id.i);
+		dTextView_ = (TextView) findViewById(R.id.d);
+		tTextView_ = (TextView) findViewById(R.id.t);
+		eTextView_ = (TextView) findViewById(R.id.e);
+		sTextView_ = (TextView) findViewById(R.id.s);
+
+		tcpServer_ = new TcpServer(4646, this);
+	}
+
+	@Override
+	protected void onStart() {
+		super.onStart();
+		 wakeLock_.acquire();
+	}
+
+	@Override
+	protected void onStop() {
+		wakeLock_.release();
+		super.onStop();
+	}
+
+	@Override
+	protected void onDestroy() {
+		tcpServer_.abort();
+		super.onDestroy();
+	}
+
+	@Override
+	public void onLine(String line) {
+		if (line.length() > 0) {
+			float f = 0;
+			try {
+				f = Float.valueOf(line.substring(1));
+			} catch (NumberFormatException e) {
+			}
+			switch (line.charAt(0)) {
+			case 'p':
+				p_ = f;
+				break;
+			case 'i':
+				i_ = f;
+				break;
+			case 'd':
+				d_ = f;
+				break;
+
+			case 's':
+				s_ = f;
+				break;
+
+			case 't':
+				targetOrientation_ = orientation_;
+				errorInt_ = 0;
+				break;
+
+			case 'r':
+				rotation_ = f;
+				break;
+
+			case 'o':
+				runOnUiThread(new Runnable() {
+					@Override
+					public void run() {
+						enableButton_.toggle();
+					}
+				});
+				break;
+			}
+		}
+		try {
+			tcpServer_.write("P: " + p_ + "\nI: " + i_ + "\nD: " + d_ + "\nS: "
+					+ s_ + "\nT: " + targetOrientation_ + "\nE: " + error_
+					+ "\n");
+		} catch (IOException e) {
+		}
+	}
+
+	private void updateDisplay() {
+		runOnUiThread(new Runnable() {
+			@Override
+			public void run() {
+				pTextView_.setText("P: " + p_);
+				iTextView_.setText("I: " + i_);
+				dTextView_.setText("D: " + d_);
+				tTextView_.setText("T: " + targetOrientation_);
+				eTextView_.setText("E: " + error_);
+				sTextView_.setText("S: " + s_);
+			}
+		});
+	}
+
+	private class Stepper {
+		private final Sequencer.ChannelCueBinary dir_;
+		private final Sequencer.ChannelCueFmSpeed stp_;
+		private final DigitalOutput slp_;
+
+		public Stepper(IOIO ioio, int startPin, Sequencer.ChannelCueFmSpeed step,
+				Sequencer.ChannelCueBinary dir) throws ConnectionLostException {
+			dir_ = dir;
+			stp_ = step;
+			stp_.period = 0;
+			slp_ = ioio.openDigitalOutput(startPin + 2, false);
+			ioio.openDigitalOutput(startPin + 3, true); // rst
+			ioio.openDigitalOutput(startPin + 4, true); // ms3
+			ioio.openDigitalOutput(startPin + 5, true); // ms2
+			ioio.openDigitalOutput(startPin + 6, true); // ms1
+			ioio.openDigitalOutput(startPin + 7, false); // en
+		}
+
+		public void setEnable(boolean en) throws ConnectionLostException {
+			slp_.write(en);
+		}
+
+		public void setSpeed(float speed) throws ConnectionLostException {
+			dir_.value = (speed > 0);
+			speed = Math.abs(speed) * 10000;
+			if (speed < 10) speed = 10;
+			if (speed > STEPS_FREQ / 3) speed = STEPS_FREQ / 3;
+			stp_.period = Math.round(STEPS_FREQ / speed);
+		}
+	}
+
+	class BalancerLooper extends BaseIOIOLooper {
+		private DigitalOutput led_;
+		private final Stepper[] steppers_ = new Stepper[2];
+		private static final int SLEEP_MS = 2;
+		private int loopCount_ = 0;
+
+		private Sequencer sequencer_;
+
+		@Override
+		public void setup() throws ConnectionLostException {
+			led_ = ioio_.openDigitalOutput(IOIO.LED_PIN, true);
+			steppers_[0] = new Stepper(ioio_, 2, leftSteps_, leftDir_);
+			steppers_[1] = new Stepper(ioio_, 13, rightSteps_, rightDir_);
+			errorInt_ = 0;
+			targetOrientation_ = 0.147f;
+			sequencer_ = ioio_.openSequencer(cfg_);
+			enableUi(true);
+		}
+
+		@Override
+		public void loop() throws ConnectionLostException {
+			try {
+				final boolean checked = enableButton_.isChecked();
+				led_.write(!checked);
+				steppers_[0].setEnable(checked);
+				steppers_[1].setEnable(checked);
+
+				float speed = 0;
+				if (checked) {
+					speed = p_ * error_ + i_ * errorInt_ + d_ * errorDeriv_;
+					if (Math.abs(speed) > 0.5) {
+						// Emergency stop
+						speed = 0;
+						runOnUiThread(new Runnable() {
+							@Override
+							public void run() {
+								enableButton_.setChecked(false);
+							}
+						});
+					}
+					targetOrientation_-= speed * s_;
+				}
+				steppers_[0].setSpeed(-speed + rotation_);
+				steppers_[1].setSpeed(speed + rotation_);
+				sequencer_.manualStart(cue_);
+				if (loopCount_++ == 50) {
+					updateDisplay();
+					loopCount_ = 0;
+				}
+				Thread.sleep(SLEEP_MS);
+			} catch (InterruptedException e) {
+				ioio_.disconnect();
+			}
+		}
+
+		@Override
+		public void disconnected() {
+			enableUi(false);
+		}
+
+		private void enableUi(final boolean en) {
+			runOnUiThread(new Runnable() {
+				@Override
+				public void run() {
+					enableButton_.setEnabled(en);
+					setButton_.setEnabled(en);
+				}
+			});
+		}
+	}
+
+	class RemoteLooper extends BaseIOIOLooper {
+		private DigitalOutput led_;
+		private final Stepper[] steppers_ = new Stepper[2];
+		private Sequencer sequencer_;
+
+		@Override
+		public void setup() throws ConnectionLostException {
+			try {
+				led_ = ioio_.openDigitalOutput(IOIO.LED_PIN, true);
+				steppers_[0] = new Stepper(ioio_, 2, leftSteps_, leftDir_);
+				steppers_[1] = new Stepper(ioio_, 13, rightSteps_, rightDir_);
+				sequencer_ = ioio_.openSequencer(cfg_);
+				enableUi(true);
+			} catch (ConnectionLostException e) {
+				enableUi(false);
+				throw e;
+			}
+		}
+
+		@Override
+		public void loop() throws ConnectionLostException, InterruptedException {
+			float speedX = 0, speedY = 0;
+			led_.write(!driveButton_.isPressed());
+			if (driveButton_.isPressed()) {
+				speedX = crop((float) (orientationX_ / Math.PI), -1 ,1);
+				speedY = crop((float) (orientation_ * 2 / Math.PI - 0.5), -1, 1);;
+				steppers_[0].setEnable(true);
+				steppers_[1].setEnable(true);
+				steppers_[0].setSpeed(speedY + speedX);
+				steppers_[1].setSpeed(-speedY + speedX);
+				sequencer_.manualStart(cue_);
+			} else {
+				steppers_[0].setEnable(false);
+				steppers_[1].setEnable(false);
+				sequencer_.manualStop();
+			}
+
+			runOnUiThread(new Runnable() {
+				@Override
+				public void run() {
+					((TextView) findViewById(R.id.p)).setText("X: "
+							+ orientationX_);
+					((TextView) findViewById(R.id.i)).setText("Y: "
+							+ orientation_);
+					((TextView) findViewById(R.id.d)).setText("dY: "
+							+ errorDeriv_);
+				}
+			});
+
+			Thread.sleep(100);
+		}
+
+		@Override
+		public void disconnected() {
+			enableUi(false);
+		}
+
+		private void enableUi(final boolean en) {
+			runOnUiThread(new Runnable() {
+				@Override
+				public void run() {
+					driveButton_.setEnabled(en);
+				}
+			});
+		}
+	}
+
+	@Override
+	public IOIOLooper createIOIOLooper(String connectionType, Object extra) {
+		if (connectionType
+				.equals("ioio.lib.android.accessory.AccessoryConnectionBootstrap.Connection")
+				|| connectionType.equals("ioio.lib.impl.SocketIOIOConnection")) {
+			return new BalancerLooper();
+		}
+		if (connectionType
+				.equals("ioio.lib.android.bluetooth.BluetoothIOIOConnection")) {
+			return new RemoteLooper();
+		}
+		return null;
+	}
+
+	@Override
+	public void onAccuracyChanged(Sensor sensor, int accuracy) {
+	}
+
+	private long gyroTimestamp_;
+	private float targetOrientation_;
+	private float orientation_ = 0;
+	private float orientationX_ = 0;
+	private float error_ = 0; // orientation - target
+	private float errorDeriv_;
+	private float errorInt_;
+	private Sensor orientationSensor_;
+	private Sensor gyroSensor_;
+	private float p_ = 2.0F;
+	private float i_ = 40.0f;
+	private float d_ = 0.02f;
+	private float s_ = 0.001f;
+	private float rotation_ = 0;
+
+	@Override
+	public void onSensorChanged(SensorEvent event) {
+		if (event.sensor == gyroSensor_) {
+			if (gyroTimestamp_ != 0) {
+				long dt = event.timestamp - gyroTimestamp_;
+				errorDeriv_ = -event.values[0];
+				orientation_ += errorDeriv_ * dt * 1e-9;
+				error_ = orientation_ - targetOrientation_;
+				errorInt_ = (float) ((error_ * dt * 1e-9) + 0.999 * errorInt_);
+			}
+			gyroTimestamp_ = event.timestamp;
+		} else if (event.sensor == orientationSensor_) {
+			float current = (float) (Math.atan2(event.values[2],
+					event.values[1]));
+			orientation_ = 0.99f * orientation_ + 0.01f * current;
+			orientation_ = normAngle(orientation_);
+			error_ = orientation_ - targetOrientation_;
+
+			orientationX_ = normAngle((float) (Math.atan2(-event.values[0],
+					event.values[2])));
+		}
+	}
+
+	private static float normAngle(float angle) {
+		while (angle < -Math.PI)
+			angle += 2 * Math.PI;
+		while (angle > Math.PI)
+			angle -= 2 * Math.PI;
+		return angle;
+	}
+
+	private static float crop(float value, float min, float max) {
+		if (value < min) return min;
+		if (value > max) return max;
+		return value;
+	}
+
+}
\ No newline at end of file
diff --git a/software/applications/ShoeBot/src/ioio/applications/shoebot/TcpServer.java b/software/applications/ShoeBot/src/ioio/applications/shoebot/TcpServer.java
new file mode 100644
index 000000000..dd0f00b9d
--- /dev/null
+++ b/software/applications/ShoeBot/src/ioio/applications/shoebot/TcpServer.java
@@ -0,0 +1,61 @@
+package ioio.applications.shoebot;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+public class TcpServer implements Runnable {
+	interface LineListener {
+		public void onLine(String line);
+	}
+
+	private LineListener listener_;
+	private int port_;
+	private ServerSocket socketServer_;
+	private Socket socket_;
+
+	public TcpServer(int port, LineListener listener) {
+		listener_ = listener;
+		port_ = port;
+		new Thread(this).start();
+	}
+	
+	public void write(String str) throws IOException {
+		socket_.getOutputStream().write(str.getBytes());
+	}
+
+	void abort() {
+		if (socketServer_ != null) {
+			try {
+				socketServer_.close();
+			} catch (IOException e) {
+			}
+		}
+		if (socket_ != null) {
+			try {
+				socket_.close();
+			} catch (IOException e) {
+			}
+		}
+	}
+
+	@Override
+	public void run() {
+		try {
+			Thread.currentThread().setPriority(Thread.MAX_PRIORITY);
+			socketServer_ = new ServerSocket(port_);
+			while (true) {
+				socket_ = socketServer_.accept();
+				BufferedReader reader = new BufferedReader(
+						new InputStreamReader(socket_.getInputStream()));
+				String line;
+				while ((line = reader.readLine()) != null) {
+					listener_.onLine(line);
+				}
+			}
+		} catch (IOException e) {
+		}
+	}
+}