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The interface for group moves is different than that for the SSC because we are embedding timing directly into the command string instead of pausing our program. So the interface should really just be made to accept commands and store them for a final output. The field in the interface is a constant for command termination as specified by the LM32. The first method, sscCmd(), takes the same inputs as a MiniSSC. The cmd() method will take an additional parameter spd this will be the speed of the individual move. The final method, move(), will take a single parameter time. This will be the speed of the total move as opposed to the move for the specific servo. (See Example 3-11.)

Figure 3-7. Setting the module version The most important version is the specification version. The Dewey decimal system is used to define this version: OpenIDE-Module-Specification-Version: 1.0.4 The implementation version is freely definable text. Typically, a timestamp is used, providing the date and time. In that way, you determine it is unique. If not explicitly set in the

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Example 3-11. GroupMoveProtocol.java package com.scottpreston.javarobot.chapter3; public interface GroupMoveProtocol { public static final String CMD_TERM = "\r"; /** * This is the SSC Constructor Mode w/500 default speed * @param ch - channel 0-31 * @param pos - position 0-255 */ public void sscCmd(int ch, int pos) throws Exception; /** * This is the native constructor mode. * @param ch - channel 0-31 * @param pos - position 0-255 * @param spd - speed in ms * @param tm = time to move in milliseconds * */ public void cmd(int ch, int pos, int spd) throws Exception; /** * * @param time - length in milliseconds to move * @throws Exception */ public void move(int time) throws Exception; } Because the LM32 takes commands for timing and we can group servos together, we will have to do much less in our class, and our timings will look smoother and more fluid.

The boy/girl pairing example isn t particularly efficient because it checks every possible pairing. There are many ways of solving this problem in Python. The following was suggested by Alex Martelli: girls = ['alice', 'bernice', 'clarice'] boys = ['chris', 'arnold', 'bob'] letterGirls = {} for girl in girls: letterGirls.setdefault(girl[0], []).append(girl) print [b+'+'+g for b in boys for g in letterGirls[b[0]]] This program constructs a dictionary called letterGirl where each entry has a single letter as its key and a list of girls names as its value. (The setdefault dictionary method is described in the previous chapter.) After this dictionary has been constructed, the list comprehension loops over all the boys and looks up all the girls whose name begins with the same letter as the current boy. This way the list comprehension doesn t have to try out every possible combination of boy and girl and check whether the first letters match.

One of the benefits of a nice object language is code reuse. Notice that I just extend the SSC class, so this class will do the same thing as a standard MiniSSC-II.

Properties dialog of the module, the IDE adds the implementation version when the module is created, using the current timestamp, set within the manifest file: OpenIDE-Module-Implementation-Version: 200701231820 On the other hand, if you define your own implementation version in the Properties dialog, the IDE adds the OpenIDE-Module-Build-Version attribute with the current timestamp. In the list of public packages, all packages in your module are listed. To expose a package to other modules, check the box next to the package you want to expose. In doing so, you define the API of your module. Exposed packages are listed as follows in the manifest file: OpenIDE-Module-Public-Packages: com.galileo.netbeans.module.*, com.galileo.netbeans.module.model.* To restrict access to the public packages (e.g., to allow only your own modules to access the public packages), you can define a module s friends. You define them beneath the list of public packages in the API Versioning section of the Properties dialog. These are then listed as follows in the manifest file: OpenIDE-Module-Friends: com.galileo.netbeans.module2, com.galileo.netbeans.module3

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