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The Definitive Guide to
Building Java Robots
■■■
Scott Preston
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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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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
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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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