Page 84 - The Definitive Guide to Building Java Robots

Preston_5564C03.fm Page 65 Wednesday, October 5, 2005 7:21 AM

CHAPTER 3 ■ MOTION 65

// accessor
public int getRightHigh() {
return rightHigh;
}

// setter
public void setRightHigh(int rightHigh) {
this.rightHigh = rightHigh;
}
// accessor
public int getRightLow() {
return rightLow;
}

// setter
public void setRightLow(int rightLow) {
this.rightLow = rightLow;
}

// sample program
public static void main(String[] args) {
try {
// get instance of SingleSerialPort
JSerialPort sPort = (JSerialPort) SingleSerialPort.getInstance(1);
// create instnace of BasicDiffDrive
BasicDiffDrive diffDrive = new BasicDiffDrive(sPort);
// move forward
diffDrive.forward();
// pause 2 seconds
Utils.pause(2000);
// stop
diffDrive.stop();
// close serial port
sPort.close();
} catch (Exception e) {
// print stack trace and exit
e.printStackTrace();
System.exit(1);
}
}
}

The next class simplifies movement a bit by adding the pause() and stop() methods for
you. By extending the BasicDiffDrive class and creating new methods with parameters to take
a millisecond argument, our robot can move in a particular direction during a given unit of
time. (See Example 3-7.)