The Definitive Guide to Building Java Robots 2005.pdf

The Definitive Guide to

Building Java Robots

■■■

Scott Preston

The Definitive Guide to Building Java Robots

electronic or mechanical, including photocopying, recording, or by any information storage or retrieval

system, without the prior written permission of the copyright owner and the publisher.

ISBN: 1-59059-556-4

Printed and bound in the United States of America 9 8 7 6 5 4 3 2 1

Coke®, Pepsi®, and 7 UP® are registered trademarks of The Coca Cola Company, PepsiCo Beverages of

North America Inc., and Cadbury Beverages North America, respectively.

Trademarked names may appear in this book. Rather than use a trademark symbol with every occurrence

of a trademarked name, we use the names only in an editorial fashion and to the benefit of the trademark

owner, with no intention of infringement of the trademark.

Lead Editor: Steve Anglin

Technical Reviewer: Simon Ritter

Editorial Board: Steve Anglin, Dan Appleman, Ewan Buckingham, Gary Cornell, Tony Davis, Jason Gilmore,

Jonathan Hassell, Chris Mills, Dominic Shakeshaft, Jim Sumser

Project Manager: Sofia Marchant

Copy Edit Manager: Nicole LeClerc

Copy Editor: Mike McGee

Assistant Production Director: Kari Brooks-Copony

Production Editor: Katie Stence

Compositor: Susan Glinert

Proofreader: April Eddy

Indexer: Carol Burbo

Artist: April Milne

Cover Designer: Kurt Krames

Manufacturing Director: Tom Debolski

Distributed to the book trade worldwide by Springer-Verlag New York, Inc., 233 Spring Street, 6th Floor,

New York, NY 10013. Phone 1-800-SPRINGER, fax 201-348-4505, e-mail orders-ny@springer-sbm.com , or

visit http://www.springeronline.com .

For information on translations, please contact Apress directly at 2560 Ninth Street, Suite 219, Berkeley, CA

94710. Phone 510-549-5930, fax 510-549-5939, e-mail info@apress.com , or visit http://www.apress.com.

The information in this book is distributed on an “as is” basis, without warranty. Although every precaution

has been taken in the preparation of this work, neither the author(s) nor Apress shall have any liability to

any person or entity with respect to any loss or damage caused or alleged to be caused directly or indirectly

by the information contained in this work.

The source code for this book is available to readers at http://www.apress.com in the Source Code section.

Contents at a Glance

About the Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .ix

About the Technical Reviewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

■ CHAPTER 1 A Primer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

■ CHAPTER 2 Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

■ CHAPTER 3 Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

■ CHAPTER 4 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

■ CHAPTER 5 Speech . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

■ CHAPTER 6 Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

■ CHAPTER 7 Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

■ CHAPTER 8 Other Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

■ CHAPTER 9 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

■ APPENDIX A The Definitive Guide API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

■ APPENDIX B Microcontroller Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

■ APPENDIX C Robot Parts Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399

■ INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403

iii

Plik z chomika:

Inne pliki z tego folderu:

Inne foldery tego chomika: