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The difference seen in the following class is that the interface is the actual format of the command string in the method createCmd(). Also, because we re used to dealing with servo positions between 0 255, I left this in rather than requiring the worker program to keep track of pulse widths between 750 and 2250 milliseconds. The two fields in the class are cmds a StringBuffer and a Boolean to provide status to any class using this object. Because the timing is determined by the LM32, I choose to use a timer to signal the class for state change (busy=false). This is done via the setBusy() method where a single task is set to be run at a specified time in the future (now + milliseconds in future). The constructor calls the super constructor with the JSerialPort, and sets the maxPins field to 32. The move() method converts the StringBuffer to a byte[] before sending out the serial port via the Controller, execute method.

Based on these various versions, define your dependencies. To that end, three different types of dependencies are available: a module depends on a module, a package, or a version of Java.

Sometimes you need to do nothing. This may not be very often, but when it happens, it s good to know that you have the pass statement: >>> pass >>> Not much going on here. Now, why on earth would you want a statement that does nothing It can be useful as a placeholder while you are writing code. For example, you may have written an if statement and you want to try it, but you lack the code for one of your blocks. Consider the following:

Note I could have put in a parameter here for a delay in the call to execute(), but I wanted to show you

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You define and edit module dependencies via Properties Libraries, as shown in Figure 3-8.

if name == 'Ralph Auldus Melish': print 'Welcome!' elif name == 'Enid': # Not finished yet... elif name == 'Bill Gates': print 'Access Denied' This code won t run because an empty block is illegal in Python. To fix this, simply add a pass statement to the middle block: if name == 'Ralph Auldus Melish': print 'Welcome!' elif name == 'Enid': # Not finished yet... pass elif name == 'Bill Gates': print 'Access Denied'

The construction of the serial command has the following syntax: "#" + channel (0-31) + "P" + pulsewidth (750-1500milliseconds) + "S" + speed(milliseconds for move) You can string up to 32 commands together before you have to terminate it by appending the following: "T" + time for total move(milliseconds) + "\r" The pulsewidth is the time in milliseconds that I have simplified via the getPw() method. It will return a pulsewidth ranging from 750 to 1500 from a byte between 0 and 255. Finally, the test program uses only two servos and moves them to positions 100 and 200, respectively, during a 1-second timeframe. (See Example 3-12.) Example 3-12. LM32.java package com.scottpreston.javarobot.chapter3; import java.util.Date; import java.util.Timer; import java.util.TimerTask; import com.scottpreston.javarobot.chapter2.JSerialPort; import com.scottpreston.javarobot.chapter2.SingleSerialPort; import com.scottpreston.javarobot.chapter2.Utils;

NO DEPENDENCY NO ACCESS!

public class LM32 extends Ssc implements SSCProtocol, GroupMoveProtocol { // buffer to store commands private StringBuffer cmds = new StringBuffer(); // default speed in milliseconds public static int DEFAULT_SPEED = 500; // busy or not private boolean busy = false; // constructor taking JSerialPort public LM32(JSerialPort sPort) throws Exception { super(sPort); super.setMaxPin(32); } // move command with parameter of milliseconds public void move(int ms) throws Exception { // this will pause the current thread for the arm move until // it is finished completing its action while (busy) { Utils.pause(2); } // set the object status to busy setBusy(ms); // append final command String cmd = cmds.append("T" + ms + CMD_TERM).toString(); // send bytes to LM32 execute(cmd.getBytes(), 0); // clear command string cmds = new StringBuffer(); //resets the string buffer for new set of // commands } // override current SSC command public void sscCmd(int ch, int pos) throws Exception { cmd(ch, pos, DEFAULT_SPEED); } /** * @param ch - channel 0-31 * @param pos - position 0-255 * @param spd - speed in milliseconds */

Note An alternative to the combination of a comment and a pass statement is to simply insert a string. This is especially useful for unfinished functions (see 6) and classes (see 7) because they will then act as docstrings (explained in 6).

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