Page 146 - The Definitive Guide to Building Java Robots

Preston_5564C04.fm Page 127 Wednesday, October 5, 2005 7:22 AM

CHAPTER 4 ■ SENSORS 127

Example 4-5. SwitchStamp.java
package com.scottpreston.javarobot.chapter5;

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

public class SwitchStamp extends Controller {

// commands set in basic stmap program
public static final int CMD_INIT = 100;
public static final int CMD_SINGLE = 101;
public static final int CMD_MULTI = 102;
// sensors
public static final int SINGLE_LINE_SENSOR1 = 0;
public static final int SINGLR_LINE_SENSOR2 = 1;
public static final int PROXIMITY_SENSOR = 2;

public SwitchStamp(JSerialPort sPort) throws Exception{
super(sPort);
}

public boolean getSingle() throws Exception{
// read single reading
String h = execute(new byte[] {CMD_INIT,CMD_SINGLE},25);
if (h.equalsIgnoreCase("1")) {
return true;
} else {
return false;
}
}

public String getMulti() throws Exception {
String r = execute(new byte[] {CMD_INIT,CMD_SINGLE},25);
String[] r2 = r.split("~");
String readings = "";
for (int i = 0; i < r2.length; i++) {
// convert each byte to char which I append to create single number
readings = readings + (char) new Integer(r2[i]).intValue();
}
return readings;
}