Page 113 - The Definitive Guide to Building Java Robots

Preston_5564C03.fm Page 94 Wednesday, October 5, 2005 7:21 AM

94 CHAPTER 3 ■ MOTION

Example 3-16. ArmTest1.java
package com.scottpreston.javarobot.chapter3;

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

public class ArmTest1 {

private BasicArm arm;

public ArmTest1(JSerialPort sPort) throws Exception {
arm = new BasicArm(sPort);
arm.rest();
}

// to position a
public void toA() throws Exception {
arm.shoulder(50);
Utils.pause(1000);
arm.elbow(200);
}

// to position b
public void toB() throws Exception {
arm.shoulder(150);
Utils.pause(1000);
arm.elbow(50);

}

// sample program
public static void main(String[] args) {
try {
JSerialPort sPort = (JSerialPort) SingleSerialPort.getInstance(1);
ArmTest1 arm1 = new ArmTest1(sPort);
arm1.toA();
arm1.toB();
arm1.toA();
sPort.close();
} catch (Exception e) {
e.printStackTrace();
System.exit(1);
}
}
}

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