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104 CHAPTER 3 ■ MOTION

Example 3-20. Hexapod.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 Hexapod implements JMotion {

private LM32 lm32;

private BasicLeg leg1; // left front
private BasicLeg leg2; // left middle
private BasicLeg leg3; // left back
private BasicLeg leg4; // right front
private BasicLeg leg5; // right middle
private BasicLeg leg6; // right back

private ArrayList legGroup1 = new ArrayList();
private ArrayList legGroup2 = new ArrayList();

private static final int UP = 0;
private static final int DOWN = 1;
private static final int FORWARD = 2;
private static final int BACKWARD = 3;
private static final int NEUTRAL = 4;

private int speed = 5;
private static final int MIN_SPEED = 250;

public Hexapod(JSerialPort serialPort) throws Exception {

lm32 = new LM32(serialPort);
// two methods for clean constructor
init(); // init all legs
setLegGroups(); // set legs in groups

}

// create legs
private void init() throws Exception {
// 1st position vertical servo (up/down)
// 2nd position horzontal servo (forward/backward)
leg1 = new BasicLeg(new ServoPosition2(0, 127, 50, 200),
new ServoPosition2(1, 127, 50, 200));