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// pivot right public void pivotRight(long ms) throws Exception { pivotRight(); Utils.pause(ms); stop(); } // sample program public static void main(String[] args) { try { // get instance of SingleSerialPort JSerialPort sPort = (JSerialPort) SingleSerialPort.getInstance(1); // create instnace of TimedDiffDrive TimedDiffDrive diffDrive = new TimedDiffDrive(sPort); // move forwrd 2 seconds diffDrive.forward(2000); // close serial port sPort.close(); } catch (Exception e) { // print stack trace and exit e.printStackTrace(); System.exit(1); } } } The final thing I need for the differential drive to be complete is a speed control. However, I won t always have wheeled robots. I might want to implement navigational classes with legged robots or other implementations of the differential drive (maybe even a car with an accelerator, brake, and steering wheel). In this case, because I want to reuse my navigational classes (see 7), I should create an interface and then use that interface in later classes. The interface I ll create is JMotion. This class has all the methods of BasicDiffDrive and TimedDiffDrive, plus the methods for speed control. (See Example 3-8.) Example 3-8. The JMotion.java Interface package com.scottpreston.javarobot.chapter3; public interface JMotion { // forward public void forward() throws Exception; // reverse public void reverse() throws Exception; // pivot right public void pivotRight() throws Exception; // picot left public void pivotLeft() throws Exception;

more than one condition. For example, let s say you want to write a program that reads a number and checks whether it s between 1 and 10 (inclusive). You can do it like this: number = input('Enter a number between 1 and 10: ') if number <= 10: if number >= 1: print 'Great!' else: print 'Wrong!' else: print 'Wrong!' This will work, but it s clumsy. The fact that you have to write print 'Wrong!' in two places should alert you to this clumsiness. Duplication of effort is not a good thing. So what do you do It s so simple: if number <= 10 and number >= 1: print 'Great!' else: print 'Wrong!'

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It should be possible to select multiple files and folders to add to the playlist Therefore, we add the method addAllFiles() (see Listing 18-18), which recursively parses the selection and adds all files to the node container Removing files (done by the removeActionPerformed() method) is much easier, as the ExplorerManager returns all selected entries, and the remove() method of the container removes an array of nodes in one step Renaming the playlist (invoked by the method renameActionPerformed()) is easy as well, using the Dialogs API Listing 18-18 Actions to edit the playlist public class Playlist extends TopComponent implements ExplorerManagerProvider { .. private void addActionPerformed(ActionEvent evt) { JFileChooser fc = new JFileChooser(PREFget(PREF CURRENTDIR, "")); fcsetFileSelectionMode(JFileChooserFILES AND DIRECTORIES); fcsetFileFilter(new FileNameExtensionFilter("MP3 Files", "mp3")); fcsetMultiSelectionEnabled(true); if(fcshowOpenDialog(this) == JFileChooserAPPROVE OPTION) { addAllFiles(fcgetSelectedFiles()); PREFput(PREF CURRENTDIR, fcgetCurrentDirectory().

// stop public void stop() throws Exception; // forward public void forward(int ms) throws Exception; // reverse public void reverse(int ms) throws Exception; // pivot right public void pivotRight(int ms) throws Exception; // picot left public void pivotLeft(int ms) throws Exception; // setting speed of robot public void setSpeed(int speed)throws Exception ; // get speed of robot public int getSpeed();

Note In this example, you could (and quite probably should) have made this even simpler by using the following chained comparison:

getAbsolutePath()); } } private void addAllFiles(File[] files) { for(File f : files) { if(fisFile()) { try { containeradd(Mp3DataObjectfind(f)getNodeDelegate()); } catch(Exception e) {} } else if(fisDirectory()) { addAllFiles(flistFiles()); } } } private void removeActionPerformed(ActionEvent evt) { containerremove(managergetSelectedNodes()); } private void renameActionPerformed(ActionEvent evt) { NotifyDescriptorInputLine nf = new NotifyDescriptorInputLine( "New Playlist Name", "Rename"); nfsetInputText(getName());.

Note The speed will not work in a hacked servo because it s either full on or full off. There you will have

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