Page 126 - The Definitive Guide to Building Java Robots

Preston_5564C03.fm Page 107 Wednesday, October 5, 2005 7:21 AM

CHAPTER 3 ■ MOTION 107

public void stop() throws Exception {
lm32.setRawCommand(getTotalMove(legGroup1, DOWN));
lm32.setRawCommand(getTotalMove(legGroup2, DOWN));
lm32.move(getSpeedInMs());
}
public void reverse() throws Exception {
}

public void pivotRight() throws Exception {
}

public void pivotLeft() throws Exception {
}

public void reverse(int ms) throws Exception {
}
public void pivotRight(int ms) throws Exception {
}

public void pivotLeft(int ms) throws Exception {
}
public int getSpeed() {
return speed;
}
public void setSpeed(int speed) {
this.speed = speed;
}
private int getSpeedInMs() {
return (MIN_SPEED* 10) - (MIN_SPEED * speed) + MIN_SPEED;
}
}

Section Summary
With the classes created in this section, I encourage you to experiment with your own gaits or
different numbers of legs.
In this section, I created the following classes:

• BasicLeg.java: This class is similar to the ComplexArm created in the last section.
• Hexapod.java: This class implements the JMotion interface to move the legged robot the
same way you would a wheeled robot.