Page 140 - The Definitive Guide to Building Java Robots

Preston_5564C04.fm Page 121 Wednesday, October 5, 2005 7:22 AM

CHAPTER 4 ■ SENSORS 121

public int getDevantech() throws Exception{
return getHeading(CMD_DEVANTECH);
}
public int getVector() throws Exception{
return getHeading(CMD_VECTOR);
}

// since differnt delay for each compass
private int getCompassDelay() {
int delay = 0;
if (compass == CMD_DINSMORE) {
delay = 50;
}
if (compass == CMD_DEVANTECH) {
delay = 150;
}
if (compass == CMD_VECTOR) {
delay = 250;
}
return delay;
}

public int getCompass() {
return compass;
}

public void setCompass(int compass) {
this.compass = compass;
}

public static void main(String[] args) {
try {
// since i am testing at my desk and not on my robot
CompassStamp s = new CompassStamp(SingleSerialPort.getInstance(1));
// since devantech is default
System.out.println("Devantech Heading = " + s.getHeading());
// getting specific heading
System.out
.println("Vector Heading = " + s.getHeading(CMD_VECTOR));
// using a setter
s.setCompass(CompassStamp.CMD_DISMORE);
// getting dinsmore heading
System.out.println("Dinsmore Heading = " + s.getHeading());
} catch (Exception e) {
e.printStackTrace();
System.exit(1);

}
}
}