/* * MultiForageTestGripper.java */package EDU.gatech.cc.is.abstractrobot;import EDU.gatech.cc.is.abstractrobot.MultiForageN150;import EDU.gatech.cc.is.util.Vec2;/** * This application is for testing Nomad 150 servo hardware * and the MultiForageN150Hard class. * <P> * To run this program, first ensure you are in the correct directory (where * the MultiForageTestGripper.class file is), then type "java  * MultiForageTestGripper". *  * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ * @see MultiForageN150 */public class MultiForageTestGripper	{        /**	 * This method is for testing Nomad 150 Gripper	 * hardware and the MultiForageN150Hard class.         */	public static void main(String[] args)		{		Vec2	sensed_obstacles[];		/*--- open the connection to the robot hardware ---*/		MultiForageN150 abstract_robot;		try			{			abstract_robot = new MultiForageN150Hard(1,38400);			/*--- get the time we started ---*/			long start_time = abstract_robot.getTime();			long curr_time = start_time;			double cycles = 0;			abstract_robot.setBaseSpeed(abstract_robot.MAX_TRANSLATION);			abstract_robot.setSpeed(curr_time, 0);				/*--- open & close gripper a few times ---*/			abstract_robot.setGripperFingers(curr_time++,0.5);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,-1.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,1.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,1.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,1.0);			Thread.sleep(1000);			abstract_robot.setGripperFingers(curr_time++,0.0);			/*--- raise & lower gripper a few times ---*/			abstract_robot.setGripperHeight(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperHeight(curr_time++,1.0);			Thread.sleep(1000);			abstract_robot.setGripperHeight(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperHeight(curr_time++,1.0);			Thread.sleep(1000);			abstract_robot.setGripperHeight(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperHeight(curr_time++,1.0);			Thread.sleep(1000);			abstract_robot.setGripperHeight(curr_time++,0.0);			Thread.sleep(1000);			abstract_robot.setGripperHeight(curr_time++,1.0);			curr_time = abstract_robot.getTime();			System.out.println("fingers should be open");			System.out.println("gripper down");			/*--- during final 10 seconds check speed ---*/			start_time = abstract_robot.getTime();			while ((curr_time - start_time)<10000)				{				abstract_robot.setGripperFingers(curr_time, 1.0);				abstract_robot.setGripperHeight(curr_time, 0.0);				cycles++;				cycles++;				curr_time = abstract_robot.getTime();				}				((MultiForageN150Hard)abstract_robot).quit(); // only do this when done!			System.out.println("MultiForageTestGripper: "+				(cycles*1000/(double)curr_time)+ 				" control cycles per second.");			}		catch(Exception e)			{			System.out.println(e);			}		}	}