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Preston_5564C03.fm Page 70 Wednesday, October 5, 2005 7:21 AM

70 CHAPTER 3 ■ MOTION

// get instance of SingleSerialPort
JSerialPort sPort = (JSerialPort)SingleSerialPort.getInstance(1);
// create instance of SpeedDiffDrive
SpeedDiffDrive diffDrive = new SpeedDiffDrive(sPort);
// set speed to 5
diffDrive.setSpeed(5);
// move forward 2 seconds
diffDrive.forward(2000);
// close port
sPort.close();
} catch (Exception e) {
// print stack trace and exit
e.printStackTrace();
System.exit(1);
}
}

// for interface passthroughs
public void forward(int ms) throws Exception{
super.forward(ms);
}
public void reverse(int ms) throws Exception{
super.reverse(ms);
}
public void pivotRight(int ms) throws Exception{
super.pivotRight(ms);
}
public void pivotLeft(int ms) throws Exception{
super.pivotLeft(ms);
}
}

Section Summary
The three classes in this section will get you through most wheeled motion using a serial servo
controller and/or electronic speed control. The classes I discussed were
• BasicDiffDrive.java: The basic differential drive control
• TimedDiffDrive.java: The extended version of BasicDiffDrive that allows motion to
occur at specific time intervals