diff --git a/Ev3/main.py b/Ev3/main.py
index 22cc98d..db8d1b8 100644
--- a/Ev3/main.py
+++ b/Ev3/main.py
@@ -11,16 +11,18 @@ import json
print("[INFO]: Imported json")
state = True
+moving = False
motor1 = ev3.LargeMotor("outA")
motor2 = ev3.LargeMotor("outD")
cam = ev3.MediumMotor('outB')
def move(speed):
- if time:
- motor1.run_forever(speed_sp=speed)
- motor2.run_forever(speed_sp=speed)
- cam.run_to_abs_pos(position_sp=0, speed_sp=500)
+ moving = True
+ motor1.run_forever(speed_sp=speed)
+ motor2.run_forever(speed_sp=speed)
+ cam.run_to_abs_pos(position_sp=0, speed_sp=500)
def stop():
+ moving = False
motor1.stop()
motor2.stop()
cam.stop()
@@ -30,7 +32,7 @@ PORT = 3131
pid=os.fork()
if pid==0: # new process
mjpeg_loc = "/home/robot/mjpg-streamer/"
- os.system('{0}mjpg_streamer -i "{0}input_uvc.so -f 15 -y" -o "{0}output_http.so -w {0}www"'.format(mjpeg_loc))
+ os.system('{0}mjpg_streamer -i "{0}input_uvc.so -f 5" -o "{0}output_http.so -w {0}www"'.format(mjpeg_loc))
exit()
power = PowerSupply()
if power.measured_volts < 7.1:
@@ -46,9 +48,8 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
conn, addr = s.accept()
with conn:
print('[INFO]: Connected by', addr)
- move(500)
while True:
- if cam.speed == 0 and (motor1.speed > 0 and motor2.speed > 0):
+ if cam.speed == 0 and moving:
if state:
cam.run_to_abs_pos(position_sp=4000, speed_sp=500)
else:
@@ -57,7 +58,7 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
try:
recieved = conn.recv(1024)
if not recieved:
- pass
+ raise BrokenPipeError
else:
recieved = recieved.decode().strip()[-1]
print(recieved)
@@ -74,9 +75,17 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
}
conn.send((json.dumps(data, ensure_ascii=False)+"\n").encode('gbk'))
elif recieved == '+':
- cam.run_timed(time_sp=50, speed_sp=750)
+ cam.run_timed(time_sp=100, speed_sp=750)
elif recieved == '-':
- cam.run_timed(time_sp=50, speed_sp=-750)
+ cam.run_timed(time_sp=100, speed_sp=-750)
+ elif recieved == 'f':
+ stop()
+ motor1.run_timed(time_sp=500, speed_sp=500)
+ motor2.run_timed(time_sp=500, speed_sp=500)
+ elif recieved == 'b':
+ stop()
+ motor1.run_timed(time_sp=500, speed_sp=-500)
+ motor2.run_timed(time_sp=500, speed_sp=-500)
except BrokenPipeError:
print("[INFO]: Client disconnected")
diff --git a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form
index b862b5f..b9b588c 100644
--- a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form
+++ b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.form
@@ -331,24 +331,44 @@
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
-
@@ -380,9 +400,20 @@
+
+
+
+
+
+
+
+
+
+
+
-
+
@@ -422,7 +453,6 @@
-
@@ -431,7 +461,6 @@
-
@@ -440,6 +469,47 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java
index b46d3b9..7232bba 100644
--- a/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java
+++ b/master_app/src/main/java/me/yigitcolakoglu/master_app/cameraForm.java
@@ -5,6 +5,9 @@
*/
package me.yigitcolakoglu.master_app;
import java.awt.AlphaComposite;
+import java.awt.BasicStroke;
+import java.awt.Color;
+import java.awt.Font;
import java.io.*;
import java.net.*;
import java.awt.Graphics2D;
@@ -28,6 +31,7 @@ import java.security.cert.*;
import java.security.*;
import javax.net.ssl.*;
import javax.swing.JSlider;
+import org.json.JSONArray;
/**
*
@@ -45,9 +49,10 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
private ServerSocket server;
private Socket client;
private Thread running = null;
+ private Thread moverThread = null;
private boolean listening = false;
private String ROBOT_IP = "10.42.0.9";
- private String AI_IP = "10.10.26.110";
+ private String AI_IP = "10.10.26.161";
private Socket robotSocket;
private DataOutputStream out;
private BufferedReader in;
@@ -90,6 +95,11 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
robot_stop = new javax.swing.JButton();
move_robot = new javax.swing.JButton();
cam_slider = new javax.swing.JSlider();
+ ai_checkbox = new javax.swing.JCheckBox();
+ forward_button = new javax.swing.JButton();
+ back_button = new javax.swing.JButton();
+ right_button = new javax.swing.JButton();
+ left_button = new javax.swing.JButton();
jPanel6 = new javax.swing.JPanel();
light_1_label = new javax.swing.JLabel();
light_2_label = new javax.swing.JLabel();
@@ -279,11 +289,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
longitude_label.setText("Longitude");
robot_stop.setText("Stop Robot");
- robot_stop.addMouseListener(new java.awt.event.MouseAdapter() {
- public void mousePressed(java.awt.event.MouseEvent evt) {
- robot_stopMousePressed(evt);
- }
- });
robot_stop.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
robot_stopActionPerformed(evt);
@@ -291,11 +296,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
});
move_robot.setText("Move Robot");
- move_robot.addMouseListener(new java.awt.event.MouseAdapter() {
- public void mousePressed(java.awt.event.MouseEvent evt) {
- move_robotMousePressed(evt);
- }
- });
move_robot.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
move_robotActionPerformed(evt);
@@ -308,6 +308,48 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
});
+ ai_checkbox.setText("Send to AI");
+
+ forward_button.setText("∧");
+ forward_button.addMouseListener(new java.awt.event.MouseAdapter() {
+ public void mousePressed(java.awt.event.MouseEvent evt) {
+ forward_buttonMousePressed(evt);
+ }
+ public void mouseReleased(java.awt.event.MouseEvent evt) {
+ forward_buttonMouseReleased(evt);
+ }
+ });
+
+ back_button.setText("∨");
+ back_button.addMouseListener(new java.awt.event.MouseAdapter() {
+ public void mousePressed(java.awt.event.MouseEvent evt) {
+ back_buttonMousePressed(evt);
+ }
+ public void mouseReleased(java.awt.event.MouseEvent evt) {
+ back_buttonMouseReleased(evt);
+ }
+ });
+
+ right_button.setText(">");
+ right_button.addMouseListener(new java.awt.event.MouseAdapter() {
+ public void mousePressed(java.awt.event.MouseEvent evt) {
+ right_buttonMousePressed(evt);
+ }
+ public void mouseReleased(java.awt.event.MouseEvent evt) {
+ right_buttonMouseReleased(evt);
+ }
+ });
+
+ left_button.setText("<");
+ left_button.addMouseListener(new java.awt.event.MouseAdapter() {
+ public void mousePressed(java.awt.event.MouseEvent evt) {
+ left_buttonMousePressed(evt);
+ }
+ public void mouseReleased(java.awt.event.MouseEvent evt) {
+ left_buttonMouseReleased(evt);
+ }
+ });
+
javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
jPanel2.setLayout(jPanel2Layout);
jPanel2Layout.setHorizontalGroup(
@@ -316,20 +358,34 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
.addGap(19, 19, 19)
.addComponent(robot_cam_label, javax.swing.GroupLayout.PREFERRED_SIZE, 576, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 231, Short.MAX_VALUE)
- .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
- .addComponent(battery_voltage_label)
- .addComponent(current_drawn_label)
- .addComponent(longitude_label)
- .addComponent(latitude_label))
- .addGap(278, 278, 278)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
- .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
- .addComponent(move_robot)
- .addComponent(robot_stop))
- .addGroup(jPanel2Layout.createSequentialGroup()
- .addGap(4, 4, 4)
- .addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
- .addGap(204, 204, 204))
+ .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
+ .addComponent(battery_voltage_label)
+ .addComponent(current_drawn_label)
+ .addComponent(longitude_label)
+ .addComponent(latitude_label))
+ .addGap(278, 278, 278)
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
+ .addComponent(move_robot)
+ .addComponent(robot_stop))
+ .addGroup(jPanel2Layout.createSequentialGroup()
+ .addGap(4, 4, 4)
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+ .addComponent(ai_checkbox)
+ .addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE))))
+ .addGap(204, 204, 204))
+ .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING, false)
+ .addComponent(forward_button, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+ .addComponent(back_button, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+ .addGap(453, 453, 453))
+ .addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel2Layout.createSequentialGroup()
+ .addComponent(left_button)
+ .addGap(64, 64, 64)
+ .addComponent(right_button)
+ .addGap(398, 398, 398))))
);
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
@@ -354,8 +410,18 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
.addGap(18, 18, 18)
.addComponent(robot_stop)
.addGap(18, 18, 18)
- .addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))))
- .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+ .addComponent(cam_slider, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)))
+ .addGap(18, 18, 18)
+ .addComponent(ai_checkbox)
+ .addGap(121, 121, 121)
+ .addComponent(forward_button)
+ .addGap(10, 10, 10)
+ .addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+ .addComponent(right_button)
+ .addComponent(left_button))
+ .addGap(7, 7, 7)
+ .addComponent(back_button)))
+ .addContainerGap(30, Short.MAX_VALUE))
);
jTabbedPane1.addTab("Robot", jPanel2);
@@ -572,14 +638,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
}//GEN-LAST:event_move_robotActionPerformed
- private void move_robotMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_move_robotMousePressed
- try {
- out.writeUTF("m");
- } catch (IOException ex) {
- System.out.println(ex.toString());
- }
- }//GEN-LAST:event_move_robotMousePressed
-
private void robot_stopActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_robot_stopActionPerformed
try {
out.writeUTF("s");
@@ -588,14 +646,6 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
}//GEN-LAST:event_robot_stopActionPerformed
- private void robot_stopMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_robot_stopMousePressed
- try {
- out.writeUTF("s");
- } catch (IOException ex) {
- System.out.println(ex.toString());
- }
- }//GEN-LAST:event_robot_stopMousePressed
-
private void cam_sliderStateChanged(javax.swing.event.ChangeEvent evt) {//GEN-FIRST:event_cam_sliderStateChanged
JSlider source = (JSlider)evt.getSource();
if (!source.getValueIsAdjusting()) {
@@ -617,6 +667,78 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
}//GEN-LAST:event_cam_sliderStateChanged
+ private void forward_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_forward_buttonMousePressed
+ moverThread = new Thread(() -> {
+ try {
+ while (true) {
+ out.writeUTF("f");
+ Thread.sleep(500);
+ }
+ } catch(Exception ex){
+ System.out.println(ex.toString());
+ }
+ });
+ moverThread.start();
+ }//GEN-LAST:event_forward_buttonMousePressed
+
+ private void forward_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_forward_buttonMouseReleased
+ moverThread.stop();
+ }//GEN-LAST:event_forward_buttonMouseReleased
+
+ private void right_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_right_buttonMousePressed
+ moverThread = new Thread(() -> {
+ try {
+ while (true) {
+ out.writeUTF("r");
+ Thread.sleep(500);
+ }
+ } catch(Exception ex){
+ System.out.println(ex.toString());
+ }
+ });
+ moverThread.start();
+ }//GEN-LAST:event_right_buttonMousePressed
+
+ private void right_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_right_buttonMouseReleased
+ moverThread.stop();
+ }//GEN-LAST:event_right_buttonMouseReleased
+
+ private void back_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_back_buttonMousePressed
+ moverThread = new Thread(() -> {
+ try {
+ while (true) {
+ out.writeUTF("b");
+ Thread.sleep(500);
+ }
+ } catch(Exception ex){
+ System.out.println(ex.toString());
+ }
+ });
+ moverThread.start();
+ }//GEN-LAST:event_back_buttonMousePressed
+
+ private void back_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_back_buttonMouseReleased
+ moverThread.stop();
+ }//GEN-LAST:event_back_buttonMouseReleased
+
+ private void left_buttonMousePressed(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_left_buttonMousePressed
+ moverThread = new Thread(() -> {
+ try {
+ while (true) {
+ out.writeUTF("l");
+ Thread.sleep(500);
+ }
+ } catch(Exception ex){
+ System.out.println(ex.toString());
+ }
+ });
+ moverThread.start();
+ }//GEN-LAST:event_left_buttonMousePressed
+
+ private void left_buttonMouseReleased(java.awt.event.MouseEvent evt) {//GEN-FIRST:event_left_buttonMouseReleased
+ moverThread.stop();
+ }//GEN-LAST:event_left_buttonMouseReleased
+
/**
* @param args the command line arguments
*/
@@ -691,16 +813,22 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
boolean run = true;
if (name.equals("robot")) {
robotSocket = new Socket(ROBOT_IP, 3131);
+ robotSocket.setSoTimeout(1000);
out = new DataOutputStream(robotSocket.getOutputStream());
in = new BufferedReader(new InputStreamReader(robotSocket.getInputStream()));
while (run) {
out.writeUTF("i");
- String resp = in.readLine();
+ String resp;
+ try {
+ resp = in.readLine();
+ } catch (SocketTimeoutException ex) {
+ resp = "{\"battery_voltage\":\"TIMEOUT\",\"current_drawn\":\"TIMEOUT\",\"lat\":\"TIMEOUT\",\"lng\":\"TIMEOUT\"}";
+ }
JSONObject values = new JSONObject(resp);
- latitude_label.setText("Latitude: " + values.getString("lat"));
- longitude_label.setText("Longitude: " + values.getString("lng"));
- battery_voltage_label.setText("Battery Voltage: " + values.getString("battery_voltage"));
- current_drawn_label.setText("Current Drawn: " + values.getString("current_drawn"));
+ latitude_label.setText("Latitude: " + values.get("lat"));
+ longitude_label.setText("Longitude: " + values.get("lng"));
+ battery_voltage_label.setText("Battery Voltage: " + values.get("battery_voltage"));
+ current_drawn_label.setText("Current Drawn: " + values.get("current_drawn"));
BufferedImage image;
URL img_url = new URL(String.format("http://%s:8080/?action=snapshot", ROBOT_IP));
@@ -712,33 +840,62 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
graphics2D.translate((height - width) / 2, (height - width) / 2);
graphics2D.rotate(Math.PI / 2, height / 2, width / 2);
graphics2D.drawRenderedImage(image, null);
- robot_cam_label.setIcon(new ImageIcon(resizeImage(dest,576,768)));
-
- URL obj = new URL(String.format("https://%s:5001/ai", AI_IP));
- HttpsURLConnection con = (HttpsURLConnection) obj.openConnection();
-
- con.setRequestMethod("POST");
- ByteArrayOutputStream out = new ByteArrayOutputStream();
- ImageIO.write(dest, "PNG", out);
- byte[] bytes = out.toByteArray();
- String base64 = Base64.getEncoder().encodeToString(bytes);
- String params = "type=damage&img=" + encodeValue(base64);
-
- con.setDoOutput(true);
- DataOutputStream wr = new DataOutputStream(con.getOutputStream());
- wr.writeBytes(params);
- wr.flush();
- wr.close();
-
- BufferedReader in = new BufferedReader(new InputStreamReader(con.getInputStream()));
- String inputLine;
- StringBuffer response = new StringBuffer();
-
- while ((inputLine = in.readLine()) != null) {
- response.append(inputLine);
+ dest = resizeImage(dest,576,768);
+ width = dest.getWidth();
+ height = dest.getHeight();
+ // robot_cam_label.setIcon(new ImageIcon(dest));
+ if (ai_checkbox.isSelected()) {
+ URL obj = new URL(String.format("https://%s:5001/ai", AI_IP));
+ HttpsURLConnection con = (HttpsURLConnection) obj.openConnection();
+
+ con.setRequestMethod("POST");
+ ByteArrayOutputStream out = new ByteArrayOutputStream();
+ ImageIO.write(dest, "PNG", out);
+ byte[] bytes = out.toByteArray();
+ String base64 = Base64.getEncoder().encodeToString(bytes);
+ String params = "type=damage&img=" + encodeValue(base64);
+
+ con.setDoOutput(true);
+ DataOutputStream wr = new DataOutputStream(con.getOutputStream());
+ wr.writeBytes(params);
+ wr.flush();
+ wr.close();
+
+ BufferedReader in = new BufferedReader(new InputStreamReader(con.getInputStream()));
+ String inputLine;
+ StringBuffer response = new StringBuffer();
+
+ while ((inputLine = in.readLine()) != null) {
+ response.append(inputLine);
+ }
+ in.close();
+ JSONObject json = new JSONObject(response.toString());
+ JSONArray detection_classes = json.getJSONArray("detection_classes");
+ System.out.println(detection_classes);
+ JSONArray detection_scores = json.getJSONArray("detection_scores");
+ System.out.println(detection_scores);
+ JSONArray detection_boxes = json.getJSONArray("detection_boxes");
+ Graphics2D graph = dest.createGraphics();
+ graph.setColor(Color.RED);
+ graph.setStroke(new BasicStroke(10));
+ graph.setFont(new Font("Arial Black", Font.BOLD, 20));
+ for (int i = 0; i < detection_scores.length(); i++) {
+ if (detection_scores.getDouble(i) < 0.4) {
+ continue;
+ }
+
+ JSONArray box = detection_boxes.getJSONArray(i);
+ int left = (int)(box.getDouble(1) * width);
+ int right = (int)(box.getDouble(3) * width);
+ int top = (int)(box.getDouble(0) * height);
+ int bottom = (int)(box.getDouble(2) * height);
+ graph.setColor(Color.RED);
+ graph.drawRect(left, top, right - left, bottom - top);
+ graph.setColor(Color.BLUE);
+ graph.drawString(Integer.toString((int)(detection_scores.getDouble(i) * 100)) + "%", left, top - 5);
+ }
}
- in.close();
- JSONObject json = new JSONObject(response.toString());
+ robot_cam_label.setIcon(new ImageIcon(dest));
}
return;
}
@@ -911,13 +1068,16 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
}
// Variables declaration - do not modify//GEN-BEGIN:variables
+ private javax.swing.JCheckBox ai_checkbox;
private javax.swing.JLabel ambulance_label;
+ private javax.swing.JButton back_button;
private javax.swing.JLabel battery_voltage_label;
private javax.swing.JSlider cam_slider;
private javax.swing.JLabel cpu_temp;
private javax.swing.JLabel cpu_usage;
private javax.swing.JLabel current_drawn_label;
private javax.swing.JLabel fan_rpm;
+ private javax.swing.JButton forward_button;
private javax.swing.JLabel fps_label;
private javax.swing.JLabel gpu_temp;
private javax.swing.JLabel gpu_usage;
@@ -946,12 +1106,14 @@ public class cameraForm extends javax.swing.JFrame implements ChangeListener{
private javax.swing.JPanel jPanel8;
private javax.swing.JTabbedPane jTabbedPane1;
private javax.swing.JLabel latitude_label;
+ private javax.swing.JButton left_button;
private javax.swing.JLabel light_1_label;
private javax.swing.JLabel light_2_label;
private javax.swing.JLabel longitude_label;
private javax.swing.JButton move_robot;
private javax.swing.JLabel ram_temp;
private javax.swing.JLabel ram_usage;
+ private javax.swing.JButton right_button;
private javax.swing.JLabel robot_cam_label;
private javax.swing.JButton robot_stop;
// End of variables declaration//GEN-END:variables