Page 83 - The Definitive Guide to Building Java Robots

Preston_5564C03.fm Page 64 Wednesday, October 5, 2005 7:21 AM

64 CHAPTER 3 ■ MOTION

// pivot on axis left
public void pivotLeft() throws Exception {
if (motorsInverted) {
setMotors(leftHigh, rightHigh);
} else {
setMotors(leftHigh, rightLow);
}
move();
}
// stop the motion
public void stop() throws Exception {
// set both motors to same value
setMotors(SSCProtocol.NEUTRAL, SSCProtocol.NEUTRAL);
move();
}

// accessor
public boolean isMotorsInverted() {
return motorsInverted;
}
// setter
public void setMotorsInverted(boolean motorsInverted) {
this.motorsInverted = motorsInverted;
}

// accessor
public int getLeftHigh() {
return leftHigh;
}

// setter
public void setLeftHigh(int leftHigh) {
this.leftHigh = leftHigh;
}

// accessor
public int getLeftLow() {
return leftLow;
}
// setter
public void setLeftLow(int leftLow) {
this.leftLow = leftLow;
}