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The Definitive Guide to
Building Java Robots
■■■
Scott Preston
The Definitive Guide to Building Java Robots
Copyright © 2006 by Scott Preston
All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means,
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
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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
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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
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