/* * Nomad150TestServos.java */package EDU.gatech.cc.is.nomad150;import EDU.gatech.cc.is.nomad150.Ndirect;/**<B>Introduction</B><BR>This application is for testing Nomad 150 servo controlhardware.<P>To run this program, first ensure you are in the correct directory (wherethe Nomad150TestServos.class file is), then type "java Nomad150TestServos".@author (c)1997 Tucker Balch, All Rights Reserved@version June 1997@see Ndirect@see Nomad150TestSensors@see Nomad150TestTriangle*/public class Nomad150TestServos	{	/**	This method is for testing the Ndirect class.	It drives the servos around from one side to another.	*/	public static void main(String[] args)		{		try			{			System.out.println("main: Opening connection to robot");			Ndirect robot = new Ndirect(1, 38400);			for(int i = 1; i<10; i+=1)				{				// full range is 500 to 2000				System.out.println(i);			robot.mv(Ndirect.MV_PWM_LOW_0 , 15000-500, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);			robot.mv(Ndirect.MV_PWM_HIGH_0 , 500, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);			robot.mv(Ndirect.MV_PWM_LOW_1 , 15000-2000, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);			robot.mv(Ndirect.MV_PWM_HIGH_1 , 2000, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);				Thread.sleep(5000);			robot.mv(Ndirect.MV_PWM_LOW_0 , 15000-2000, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);			robot.mv(Ndirect.MV_PWM_HIGH_0 , 2000, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);			robot.mv(Ndirect.MV_PWM_LOW_1 , 15000-500, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);			robot.mv(Ndirect.MV_PWM_HIGH_1 , 500, Ndirect.MV_IGNORE, 0, Ndirect.MV_IGNORE, 0);				Thread.sleep(5000);				}			}		catch (Exception e)			{			System.out.println(e);			}		}		}