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Bots /The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 8

Chapter 8 Taking Control of the BrainStem Robot 227

CommPortIdentifier.getPortIdentifier(portname);
SerialPort serialPort =
(SerialPort) portId.open("AbstractBrainStem", 2000);

inputStream = serialPort.getInputStream();
outputStream = serialPort.getOutputStream();

serialPort.addEventListener(stem);
serialPort.notifyOnDataAvailable(true);

stem.SetStream(inputStream, outputStream);

gp = new jGP(stem, moduleAddress);
} catch (Exception e) {
e.printStackTrace();
}
}

public float readSensor(int sensorNumber) {
float result = -1;
try {
result = gp.AnalogIn((byte) sensorNumber);
} catch (jErr e) {
e.printStackTrace();
}
return result;
}
public void startServo(int servoNumber, float amount) {
try {
gp.ServoAbs((byte) servoNumber, amount);
} catch (jErr e) {
e.printStackTrace();
}
}

public void stopServo(int servoNumber) {
try {
gp.ServoAbs((byte) servoNumber, 0f);
} catch (jErr e) {
e.printStackTrace();
}
}
}

P:\010Comp\Bots\880-6\ch08.vp
Monday, May 12, 2003 1:16:48 PM