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try { // create serial port StandardSerialPort serialPort = new StandardSerialPort(1); // increment position by 5 each time in loop for (int pos = 0; pos < 255; pos = pos + 5) { // create byte array for ssc commands byte[] sscCmd = new byte[] { (byte) 255, 0, (byte) pos }; // send byte array to serial port serialPort.write(sscCmd); // pause between commands Thread.sleep(100); } // close serail port serialPort.close(); } catch (Exception e) { // print stack trace and exit. e.printStackTrace(); System.exit(1); } } } While the preceding class does just what I want it to, I thought that given all the work in the coming sections and chapters it would be a good idea to standardize communication to the SSC because its communication protocol is fixed. To do this, I created the interface SSCProtocol.java. It has a single method defined, move(pin, pos). The method has the following parameters: pin the pin position of where the servo is plugged in; and pos the position of the servo from 0 to 255. I also added a few constants to simplify classes using this protocol. (See Example 3-3.) Example 3-3. SSCProtocol.java package com.scottpreston.javarobot.chapter3; public interface SSCProtocol { // maximum public static final byte MAX = (byte) 255; // neutral public static final byte NEUTRAL = (byte)127; // minimum public static final byte MIN = (byte) 0; /** * @param pin - connector on the MiniSSC 0-7 * @param pos - byte from 0-255 */ public void move(int pin, int pos) throws Exception; }

Our first service has been defined, so we can now start implementing the service providers. This means we use the JMF module and its functionality for the playback of MP3 files. This brings us back to the MP3 file type. As indicated previously in Figure 18-1, the MP3 player is implemented by a separate module. We create this module with the name Player and the code name base com.hboeck.mp3manager.player. Using Properties Libraries, we define dependencies to the other required modules: File Type, JMF Plugin, and Services. First, we create an Mp3PlayerImpl class, which inherits the service interface Mp3Player, and implement its methods by means of JMF (see Listing 18-9). Let s start with the method play(), by which an MP3 file is given as Mp3DataObject. The central class of JMF is the Manager class. It is used to obtain system-dependent resources. This manager creates a Player instance for the MP3 file passed as a URL. But before starting that Player using the start() method, we register a ControllerListener so that we ll be informed of the different states of the Player. Listing 18-9. Implementation of the service provider using JMF package com.hboeck.mp3manager.player; import com.hboeck.mp3manager.filetype.Mp3DataObject; import com.hboeck.mp3manager.services.player.Mp3Player; import javax.media.ControllerEvent; import javax.media.ControllerListener; import javax.media.EndOfMediaEvent; import javax.media.GainControl; import javax.media.Manager; import javax.media.Player; import javax.media.RealizeCompleteEvent; import javax.media.Time; public class Mp3PlayerImpl extends Mp3Player implements ControllerListener { private static final Logger LOG =

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Now that I have an interface defined for all SSC communication, I m ready to create the base SSC class Like Controllerjava I made this class abstract because I want to write two implementations that reuse functionality (for example, the move() method) This class has a single field, maxPin, because I also want to differentiate how many pins each child class of the SSC has Depending on the servo controller you have, make sure you set this accordingly The constructor takes the JSerialPort In the move method, I add error handling to the input parameters, throwing an exception if the parameters are out of bounds, and then create a byte[] with the parameters before calling the execute method from the Controller parent class.

If you want to check for several conditions, you can use elif, which is short for else if. It is a combination of an if clause and an else clause an else clause with a condition: num = input('Enter a number: ') if num > 0: print 'The number is positive' elif num < 0: print 'The number is negative' else: print 'The number is zero'

Logger.getLogger(Mp3PlayerImpl.class.getName()); private Player player = null; private GainControl volumeControl = null; private int volume = 20; private boolean mute = false; private Mp3DataObject mp3 = null; private Enumeration<Mp3DataObject> list = null; public Mp3PlayerImpl() { } public void play(Mp3DataObject mp3) { try { this.mp3 = mp3; if(player != null) { player.stop(); player.close(); } player = Manager.createPlayer(mp3.getPrimaryFile().getURL()); player.addControllerListener(this); player.start(); } catch(Exception e) { LOG.log(Level.SEVERE, e.getMessage(), e); } } public void play(ListIterator<Mp3DataObject> mp3s) { list = mp3s; if(list.hasNext()) { play(list.next()); } } public void pause() { if(player != null) { player.stop(); } } public void stop() { if(player != null) { fireStopEvent(); player.stop(); player.setMediaTime(new Time(0)); player.close(); } } public void previous() { if (list != null && list.hasPrevious()) { play(list.previous()); } } public void next() { if (list != null && list.hasNext()) {

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