[player/stage: javaclient2] sample

This 2 days, I could not understand about the player/stage. javaclient2 is one of the client tool for player.

Official site (player/stage)
http://playerstage.sourceforge.net/wiki/Main_Page

Official page(javaclient2 for player/stgage)
http://java-player.sourceforge.net/index.php

The following url is community for javaclient2 for player/stage.
http://www.nabble.com/Javaclient-for-Player-Stage-f3213.html

I try to write sample program same behavior as laserobstacleavoid.cc.

========================================================================
import javaclient2.*;
import javaclient2.structures.PlayerConstants;
import javaclient2.structures.laser.*;

public class TestClassBasic
{
private String hName = "localhost";
private int port = 6664;
private double lLimit = 2;

public TestClassBasic()
{
PlayerClient robot = new PlayerClient(hName, port);
Position2DInterface p2d = robot.requestInterfacePosition2D(1, PlayerConstants.PLAYER_OPEN_MODE);

LaserInterface laser = robot.requestInterfaceLaser(0, PlayerConstants.PLAYER_OPEN_MODE);
PlayerLaserData pld = null;

double speed = 3;
double turn = 0;

int minCounter = 0;

while(true)
{
double newspeed = 0;
double newturnrate = 0;
double minR = 1e9;
double minL = 1e9;

robot.readAll();
pld = laser.getData();

for(int i=0; i pld.getRanges()[i])
{
minR = pld.getRanges()[i];
}
}
for(int i=pld.getIntensity_count()/2; i< minl =" pld.getRanges()[i];" l =" (1e5" r =" (1e5"> 100)
l = 100;
if(r > 100)
r = 100;

newspeed = (r+l)/1e3;

newturnrate = (r-l);
newturnrate = limit(newturnrate);
newturnrate = Math.toRadians(newturnrate);

p2d.setSpeed((float)newspeed, (float)newturnrate);
}// while
}

private double limit(double newturnrate)
{
if(newturnrate < -40) { return(-40); } else if(newturnrate > 40)
{
return(40);
}

return(newturnrate);
}

public static void main(String[] args)
{
TestClassBasic tcb = new TestClassBasic();
}
}