Page 96 - The Definitive Guide to Building Java Robots

Preston_5564C03.fm Page 77 Wednesday, October 5, 2005 7:21 AM

CHAPTER 3 ■ MOTION 77

public void setServoTiming(int stepSize, int moveDelay)
throws Exception {
// ensure will work
if (stepSize < MIN_STEP_SIZE) {
throw new Exception("Step size not possible at 9600 baud.");
}
if (moveDelay < (stepSize * MIN_DELAY_SIZE)) {
throw new Exception("Move delay not practical for given step size.");
}
this.stepSize = stepSize;
this.moveDelay = moveDelay;
}

public int getMoveDelay() {
return moveDelay;
}

public int getStepSize() {
return stepSize;
}

// sample program
public static void main(String[] args) {
try {
// get instance of SingleSerialPort
JSerialPort sPort = (JSerialPort)SingleSerialPort.getInstance(1);
// create instance of PanTilt
PanTilt pt = new PanTilt(sPort);
// pan left until exception is thrown
while (true) {
try {
pt.moveLeft();
} catch (Exception e) {
break;
}
}
// pan right
while (true) {
try {
pt.moveRight();
} catch (Exception e) {
break;
}
}
// reset head
pt.reset();
// tilt up