adds *.class to .gitignore

.gitignore

@@ -0,0 +1 @@
+*.class

GroundStation/v2/ConnectionPanel.java

@@ -137,6 +137,10 @@ class ConnectionPanel extends JPanel implements ActionListener {
             for( int i = 0; i < contentOut.controlValues.length; i++ )
                 out.print( "C" + i + "_" + contentOut.controlValues[i] + " " );
         }
+        if( contentOut.orientation ) {
+            for( int i = 0; i < contentOut.orientValues.length; i++ )
+                out.print( "O" + i + "_" + contentOut.orientValues[i] + " " );
+        }
         out.println();
     }
 
@@ -148,18 +152,43 @@ class ConnectionPanel extends JPanel implements ActionListener {
             if( in.ready() ) {
                 String messageIn = in.readLine();
                 Scanner temp = new Scanner( messageIn );
+                boolean motorsEnabled = false;
+
+                contentIn.motorTesting = false;
+                contentIn.controls = false;
+                contentIn.orientation = false;
+
                 while( temp.hasNext() ) {
                     String next = temp.next();
-                    if( next.indexOf( "H" ) == 0 ) System.out.print( "\nH" );
+                    if( next.indexOf( "H" ) == 0 ) {
-                    System.out.print( next );
+                        System.out.print( "\nH " );
-                    if( next.indexOf( "M" ) > 0 ) {
+                    }
-                        Scanner motorScan = new Scanner( next );
+                    else if( next.indexOf( "E" ) == 0 ) {
-
+                        motorsEnabled = true;
+                        System.out.print( "E " );
+                    }
+                    else if( next.indexOf( "M" ) == 0 ) {
+                        contentIn.motorTesting = true;
+                        //int motorNum = Integer.parseInt( next.substring( 1 ) );
+                        //int motorVal = Integer.parseInt( next.substring( 3, next.length() ) );
+                        //contentIn.motorValues[ motorNum ] = motorVal;
+                        System.out.print( "M " );
+                    }
+                    else if( next.indexOf( "C" ) == 0 ) {
+                        contentIn.controls = true;
+                        //int controlNum = Integer.parseInt( next.substring( 1 ) );
+                        //int controlVal = Integer.parseInt( next.substring( 3, next.length() ) );
+                        //contentIn.controlValues[ controlNum ] = controlVal;
+                        System.out.print( "C " );
+                    }
+                    else if( next.indexOf( "O" ) == 0 ) {
+                        contentIn.orientation = true;
+                        System.out.print( "O " );
                     }
                 }
+                contentIn.setMotorsEnabled( motorsEnabled );
+                contentIn.fireActionPerformed( new ActionEvent(contentIn, ActionEvent.ACTION_PERFORMED, "" ) );
             }
-            contentIn.orientation = true;
-            contentIn.fireActionPerformed( new ActionEvent(contentIn, ActionEvent.ACTION_PERFORMED, "" ) );
         }
         catch( IOException ex ) {}
     }

GroundStation/v2/Display3d.java

@@ -10,7 +10,7 @@ class Display3d extends JPanel implements ActionListener, ChangeListener {
 
     private JSlider slider;
     private MessageContent source = new MessageContent();
-    private Font normalFont = new Font( "Normal", Font.PLAIN, 15 );
+    private Font normalFont = new Font( "Normal", Font.BOLD, 15 );
 
     /**
      * no-args constructor
@@ -60,12 +60,23 @@ class Display3d extends JPanel implements ActionListener, ChangeListener {
             g.setColor( Color.GREEN );
             //g.drawLine( centerX, centerY, X, Y );
             
-            g.setColor( Color.BLACK );
+            g.setColor( Color.LIGHT_GRAY );
             g.setFont( normalFont );
-            g.drawString( "w = " + source.orientValues[ 0 ], 10, 35 );
+
-            g.drawString( "x = " + source.orientValues[ 1 ], 10, 60 );
+            double w = source.orientValues[ 0 ];
-            g.drawString( "y = " + source.orientValues[ 2 ], 10, 85 );
+            double x = source.orientValues[ 1 ];
-            g.drawString( "z = " + source.orientValues[ 3 ], 10, 110 );
+            double y = source.orientValues[ 2 ];
+            double z = source.orientValues[ 3 ];
+
+            g.drawString( "w = " + w, 11, 35 );
+            g.drawString( "x = " + x, 15, 50 );
+            g.drawString( "y = " + y, 15, 65 );
+            g.drawString( "z = " + z, 15, 80 );
+
+            double[] gravity = { 2 * ( x*z - w*y ), 2 * ( w*x + y*z ), w*w - x*x - y*y + z*z };
+
+            g.drawString( "Pitch: " + Math.toRadians( Math.atan( x / Math.sqrt( y*y + z*z ) ) ), 15, 100 );
+            g.drawString( "Roll:  " + Math.toRadians( Math.atan( y / Math.sqrt( x*x + z*z ) ) ), 15, 115 );
         }
         else {
             g.setColor( Color.RED );

GroundStation/v2/DisplayController.java

@@ -0,0 +1,26 @@
+import javax.swing.*;
+import java.awt.event.*;
+
+class DisplayController.java extends JPanel implements ActionListener {
+
+    private MessageContent source = new MessageContent();
+
+    public DisplayController() {
+        setBackground( Color.DARK_GRAY );
+        setPerferredSize( new Dimension( 0, 100 ) );
+    }
+
+    public void paintComponent( Graphics g ) {
+        super.paintComponent( g );
+        
+        g.setColor( Color.LIGHT_GRAY );
+
+    }
+
+    /**
+     *
+     */
+    public void actionPerformed( ActionEvent evt ) {
+        redraw();
+    }
+}

GroundStation/v2/EStopWindow.java

@@ -20,7 +20,7 @@ class EStopWindow extends JFrame implements ActionListener {
     /**
      *
      */
-    public EStopWindow() {
+    public EStopWindow( boolean visible) {
         super("Emergency Stop");
         setDefaultCloseOperation( JFrame.DO_NOTHING_ON_CLOSE );
         setAlwaysOnTop( true );
@@ -33,7 +33,14 @@ class EStopWindow extends JFrame implements ActionListener {
 
         setEnabled( true );
         pack();
-        setVisible( true );
+        setVisible( visible );
+    }
+
+    /**
+     *
+     */
+    public EStopWindow() {
+        this( true );
     }
 
     /**

GroundStation/v2/GroundStation.java

@@ -11,7 +11,7 @@ class GroundStation implements ActionListener {
     /** main window to hold everything */
     private JFrame mainWindow;
     /** window to hold emergency stop button */
-    private EStopWindow eStopWindow;
+    private EStopWindow eStopWindow = new EStopWindow( false );
 
     /** connection options section of window */
     private ConnectionPanel connectPanel;
@@ -52,6 +52,8 @@ class GroundStation implements ActionListener {
 
         mainWindow.pack();
         mainWindow.setVisible( true );
+
+        sendContent.orientation = true;
     }
 
     public void disableMotors() {