Page 124 - The Definitive Guide to Building Java Robots

Preston_5564C03.fm Page 105 Wednesday, October 5, 2005 7:21 AM

CHAPTER 3 ■ MOTION 105

leg2 = new BasicLeg(new ServoPosition2(4, 127, 50, 200),
new ServoPosition2(5, 127, 100, 150));
leg3 = new BasicLeg(new ServoPosition2(8, 127, 50, 200),
new ServoPosition2(9, 127, 50, 200));
leg4 = new BasicLeg(new ServoPosition2(16, 127, 200, 50),
new ServoPosition2(17, 127, 200, 50));
leg5 = new BasicLeg(new ServoPosition2(20, 127, 200, 50),
new ServoPosition2(21, 127, 150, 100));
leg6 = new BasicLeg(new ServoPosition2(24, 127, 200, 50),
new ServoPosition2(25, 127, 200, 50));

}

// put legs into walking groups
private void setLegGroups() throws Exception {
legGroup1.add(leg1);
legGroup1.add(leg3);
legGroup1.add(leg5);
legGroup2.add(leg2);
legGroup2.add(leg4);
legGroup2.add(leg6);
}

// this will create an entire string of commands for all legs
public String getTotalMove(ArrayList legs, int cmd) throws Exception {
StringBuffer cmds = new StringBuffer();
for (int i = 0; i < legs.size(); i++) {
BasicLeg tmpLeg = (BasicLeg) legs.get(i);
if (cmd == UP) {
cmds.append(tmpLeg.up());
}
if (cmd == DOWN) {
cmds.append(tmpLeg.down());
}
if (cmd == FORWARD) {
cmds.append(tmpLeg.forward());
}
if (cmd == BACKWARD) {
cmds.append(tmpLeg.backward());
}
if (cmd == NEUTRAL) {
cmds.append(tmpLeg.neutral());
}
}
return cmds.toString();
}