Code for ROFI is written in 3 languages, C++ for the Arduino Mega board, Java for the Android tablet, and C# for the desktop applications that communicate with the robot. This is obviously not the optimal situation, however an in-depth knowledge of each language isn't necessary to begin working with ROFI. The Android development setup in particular seems exceptionally complicated, but follow the steps and it isn't too bad ... after installation, usage is pretty easy. For first time Android developers, it should be noted that applications are written on a computer and then uploaded to the Android device via USB cable (no you don't have to write code using the tiny Android on screen keyboard ;-).
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