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90 CHAPTER 3 ■ MOTION

In this section, I created the following four classes:
• GroupMoveProtocol.java: Similar to the SSCProtocol but used for grouped moves of the
LM32.

• LM32.java: The implementation class for the Lynxmotion SSC-32.
• ServoPosition.java: A servo position data structure to assist in implementing the Group-
MoveProtocol in the MiniSSC.
• MiniSscGM: The implemented GroupMoveProtocol for the MiniSSC.
In the next section, we’ll discuss how to use the LM32 and the GroupMoveProtocol with a
robotic arm.

3.5 The Robot Arm

Moving your robot on the ground is just one type of motion. The second type is motion from a
fixed position. To demonstrate this, I’m going to use a robot arm. If you don’t have a robot arm,
you can purchase the components from Lynxmotion, Inc. at www.lynxmotion.com (see
Figure 3-11) or make them yourself.

Figure 3-11. The Lynxmotion Aluminum Arm

I have included a class diagram of these classes in Figure 3-12.