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Preston_5564C03.fm Page 87 Wednesday, October 5, 2005 7:21 AM

CHAPTER 3 ■ MOTION 87

Example 3-14. MiniSscGM.java
package com.scottpreston.javarobot.chapter3;

import java.util.ArrayList;

import com.scottpreston.javarobot.chapter2.JSerialPort;
import com.scottpreston.javarobot.chapter2.SingleSerialPort;
import com.scottpreston.javarobot.chapter2.Utils;

public class MiniSscGM extends Ssc implements SSCProtocol, GroupMoveProtocol {

// store commands in list
private ArrayList commands = new ArrayList();
// store servos in list
private ArrayList servos = new ArrayList();

// constructor takes JSerialPort as parameter
public MiniSscGM(JSerialPort jSerialPort) throws Exception {
super(jSerialPort);
setMaxPin(7);
// create servos
createServos();
}
// add servos to list
private void createServos() throws Exception{
for (int i = 0; i < getMaxPin() + 1; i++) {
ServoPosition svo = new ServoPosition(i, SSCProtocol.NEUTRAL);
// index will be same as id.
servos.add(svo);
}
}

public void sscCmd(int ch, int pos) throws Exception {
// calls overridden move method later in this class
move(ch, pos);
}

public void cmd(int ch, int pos, int spd) throws Exception {
// not going to implement the spd variable for the MiniSSC-II
ServoPosition svoPos = new ServoPosition(ch, pos);
commands.add(svoPos);
}

public void move(int time) throws Exception {
// all servo moves will have a minimum step-size of 3

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