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Preston_5564C03.fm Page 97 Wednesday, October 5, 2005 7:21 AM

CHAPTER 3 ■ MOTION 97

The result is the same as BasicArm, but smoother, and with more axes. (See Example 3-18.)

Example 3-18. ComplexArm.java
package com.scottpreston.javarobot.chapter3;

import java.util.ArrayList;

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

public class ComplexArm{

// servo positions for differnt servos
// shoulder 1
private ServoPosition2 s1;
// shoulder 2
private ServoPosition2 s2;
// elbow
private ServoPosition2 e;
// wrist
private ServoPosition2 w;
// grip 1
private ServoPosition2 g1;
// grip 2
private ServoPosition2 g2;
// LM32 worker
private LM32 lm32;
// list of servos
private ArrayList servos;

public ComplexArm(JSerialPort serialPort) throws Exception {
lm32 = new LM32(serialPort);
// put in seperate method for cleanliness
init();
}

private void init() throws Exception {

// note the position pin is not used for the LM32 because it remembers
// the position
s1 = new ServoPosition2(0);
s2 = new ServoPosition2(1);
e = new ServoPosition2(2);
w = new ServoPosition2(3);
g1 = new ServoPosition2(4);
g2 = new ServoPosition2(5);