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// accessor public int getMaxPin() { return maxPin; } // setter public void setMaxPin(int maxPin) { this.maxPin = maxPin; } } Now that the general super-class has been created, it s time to create a specific class for the MiniSSC-II. This class has no fields and simply calls the parent constructor and setMaxPin method to limit the total pins to seven. In the example program in main(), I call the same logic that composed the class SerialSSC in Example 3-2. Move the servo through the range of motion in 5-byte increments. You ll note that its command structure is simpler (no bytes to create or cast), and you have error control built in. (See Example 3-5.) Example 3-5. MiniSsc.java package com.scottpreston.javarobot.chapter3; import com.scottpreston.javarobot.chapter2.JSerialPort; import com.scottpreston.javarobot.chapter2.SingleSerialPort; import com.scottpreston.javarobot.chapter2.Utils; public class MiniSsc extends Ssc implements SSCProtocol { // calls super and sets max pin to 7 public MiniSsc(JSerialPort serialPort) throws Exception { super(serialPort); setMaxPin(7); } // sample program public static void main(String[] args) { try { // get single serial port instance JSerialPort sPort = (JSerialPort) SingleSerialPort.getInstance(1); // create new miniSSc MiniSsc ssc = new MiniSsc(sPort);

Your module may use folders, files, and attributes from the layer file in order to provide extension points to other modules. The readout of entries is accomplished by accessing the System Filesystem: Repository.getDefault().getDefaultFileSystem(); This call returns a FileSystem object. Its properties and functionality are described in detail in 7. The Window: TopComponent section in 5 shows you how to define your own entries in the layer file; it also shows how they can be read and, thereby, how they can provide an extension point for other modules in a way that makes them available to additional modules.

Perhaps the most basic operators used in conditions are the comparison operators. They are used (surprise, surprise) to compare things. The comparison operators are summed up in Table 5-1.

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// move from position 0 to 255, 5 per 100 ms for (int pos = 0; pos < 255; pos = pos + 5) { // move ssc.move(0, pos); // wait 100 milliseconds Utils.pause(100); } // close serial port sPort.close(); } catch (Exception e) { // print stack trace and exit e.printStackTrace(); System.exit(1); } } }

Following the sections on structure and content of modules, we will now create our first module. A good introduction to module development is also offered by the sample applications already integrated in the NetBeans IDE. Here, we will simply design a single module. First, create a NetBeans Platform Application or a Module Suite. Both are containers for modules. The NetBeans Platform Application project type creates a standalone rich client application, starting from NetBeans Platform modules only, whereas a Module Suite creates a set of related modules, starting from all the modules in the NetBeans IDE. Note, however, that

In this section, we showed a difficult way and an easy way to model a servo controller. We also added an interface to ensure communication for different controllers and added an implementation for the MiniSSC-II. The classes discussed were the following: SerialSsc.java: A serial version of servo control (an example of a hard way) SSCProtocol.java: An interface designed to standardize communication to a servo controller SSC.java: Super-class used by the MiniSSC and other classes for servo communication MiniSSC.java: Implementation class for the Scott Edwards MiniSSC-II Now that you know how to control servos with your PC, you re ready to get a robot to move. In the next section, I ll talk about differential drive robots (with two wheels) and there I ll use the MiniSSC and your PC s serial port to make it move.

x equals y. x is less than y. x is greater than y. x is greater than or equal to y. x is less than or equal to y. x is not equal to y. x and y are the same object. x and y are different objects. x is a member of the container (e.g., sequence) y. x is not a member of the container (e.g., sequence) y.

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