Interesting, just looking through your test app. So do you know if Humanoid.getSensors() returns the hand sensors as well? According to the guide they are only accessable throught the Arm class.

Your code is definately more efficient than mine.

I'm not surprised it has trouble keeping track of servo positions, I've spent time studying the communications between the two cpu's, and I haven't seen anything that suggests that the cpu that runs the body ever reports servo positions back to the cpu running the JVM (it could just be the existing software never requests servo position data though). I wouldn't be surprised if it just stored the last position the servo was ordered to move to.

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I don't think his IR sensors would work even if the midlet was receiving sensor events, IR tracking is switched off in Media Mode, a check with a digital camera shows the IR LED's aren't firing. Oddly enough all the sensors report themselves as enabled. What there should be is a way to turn hearing and IR sensors on and off. Unless I am missing something.

It could pose some problems, but for most applications your aren't attempting to determine a servo's position, you just want it to move to a position.  

RoboGuide - Your guide to hacking all things WowWee

The servo's I tested all worked, but I only tested a couple. You did notice that some joints only have 4 positions?

RoboGuide - Your guide to hacking all things WowWee

Some of the joints positional feedback are 2bit encoders (waist tilt left/right, wrists and head up/down), there is one 3bit encoder in the neck (left and righ) and four pot sensors (left/right shoulders, torso tilt forward/backward and waist rotate left / right).

If you look at the humanoid class documentation under field details it lists the ranges for the different servo's. 

RoboGuide - Your guide to hacking all things WowWee

I haven't had a chance to try all the servos yet, but I am running off a AC adapter. Some of the initial problems I had with using the UI (it seemed to lock a lot and be unresponsive) turned out to be almost flat batteries in my remote.

The positionProgram() call will probably trigger the program store in his positional program slot. I think this is sort of a carry over from the fact the RS Media is based on the Robosapien V2 hardware. I think that they are stored in the CPU that controls his body, but I haven't checked that. Positional programs are created by moving his body they way you want it to move. I think pressing "a" when in control mode enters the main positional programming mode (see puppet mode, page 36 of the manual). If the program is empty, calling it will do nothing.

There's also a left and right positional program that can be programmed by double tapping his left foot sensor or right foot sensor, but there doesn't seem to be a way to access them in the JVM.

RoboGuide - Your guide to hacking all things WowWee

DrSoong, when I look at your test file 'main.java' in the Netbeans, it says 'package javax.microedition.lcdui does not exist' and 'package javax.microedition.midlet does not exist'

I have the CLDC installed, is there an additional module that needs to be added to the Netbeans? (i'm in the process of downloading the Wireless TOolkit 2.5 for CLDC since that was the only Update Center module mentioning Java ME... you can probably tell, i'm a noob!)

edit- never mind, I added your main.java to a project and the errors cleared up.

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Hey guys, im trying to run my first midlet on RS Media but when i boot him up i get the error "One of the application classes appears to be missing.  This could be due to a misnamed class  (carriage return)  Main"  Im guessing im either naming the midlet wrong or putting it in the wrong place on the sd card.  Any help would be greatly appreciated.  Also my rsmedia appears to stall for awhile after transfering the midlet via usb.  It has trouble getting back out of usb mode.  Im wondering if this would be something to do with the previous problem?

Hey. Can someone tell me how to download and run the java files on the robosapien? I know I need to figure out how to run the midlet file, but I'm not sure exactly how that's done.

Edit:  

Nevermind. I found that simply placing the SD Card in the SD slot on the robot while using the USB attached to the computer works best. I also found that the midlet.jar file needs to be on the home directory of the SD card. The midlet file and the program are both working now.