Page 95 - The Definitive Guide to Building Java Robots

Preston_5564C03.fm Page 76 Wednesday, October 5, 2005 7:21 AM

76 CHAPTER 3 ■ MOTION

public void moveLeft(int size) throws Exception{
horz(horzPos-size);
}
public void moveLeft()throws Exception {
moveLeft(stepSize);
}

public void moveUp(int size) throws Exception{
vert(vertPos+size);
}
public void moveUp()throws Exception {
moveUp(stepSize);
}
public void moveDown(int size) throws Exception{
vert(vertPos-size);
}
public void moveDown()throws Exception {
moveDown(stepSize);
}

// accessor
public int getHorzPos() {
return horzPos;
}
// setter
public void setHorzPos(int horzPos) {
this.horzPos = horzPos;
}
// accessor
public int getVertPos() {
return vertPos;
}
// setter
public void setVertPos(int vertPos) {
this.vertPos = vertPos;
}
// accessor
public int getSpeed() {
return speed;
}
// setter
public void setSpeed(int speed) {
this.speed = speed;
}
// servo timing setter
// stepSize = size of the step as long as it's not minimum step size
// moveDelay = timing delay between steps