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

Chapter 8 Taking Control of the BrainStem Robot 229

}

public static void main(String[] args) {
ToFro tf = new ToFro("COM1", (byte) 2);
while (true) {
tf.moveTo();
tf.moveFro();
}
}

void moveTo() {
startServo(1, 1.0f);
startServo(2, -1.0f);
sleep(2);
}

void moveFro() {
startServo(1, -1.0f);
startServo(2, 1.0f);
sleep(2);
}

void sleep(int seconds) {
try { Thread.sleep(seconds*1000); } catch (Exception ignored) {}
}
}

The ToFro class should be relatively straightforward. The main( ) method
calls the constructor for the class, passing the communication port name and
BrainStem module ID. The communication port name is, of course, the name
on a Windows platform. If you are trying this code on a Mac or Unix platform,
you will need to change to the appropriate name for your system. The con-
structor calls the constructor of AbstractBrainStem, which sets up the serial
port to communicate with the BrainStem. The code then starts an endless loop
where it calls methods that move the robot in one direction for two seconds,
and then in the opposite direction for two seconds.
The next thing to do is to compile our program. To be able to do this, you
will need some additional resources. The first thing you’ll need is the Java
Communications API. We introduced the API earlier in this chapter. If you
installed it at that time, you don’t need to do anything else. Otherwise,

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