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Example 3-20. Hexapod.java package com.scottpreston.javarobot.chapter3; import java.util.ArrayList; import com.scottpreston.javarobot.chapter2.JSerialPort; import com.scottpreston.javarobot.chapter2.SingleSerialPort; import com.scottpreston.javarobot.chapter2.Utils; public class Hexapod implements JMotion { private LM32 lm32; private private private private private private BasicLeg BasicLeg BasicLeg BasicLeg BasicLeg BasicLeg leg1; leg2; leg3; leg4; leg5; leg6; // // // // // // left front left middle left back right front right middle right back

>>> path = 'C:\nowhere' >>> path 'C:\nowhere' This looks correct, until you print it and discover the flaw: >>> print path C: owhere Not exactly what we were after, is it So what do we do We can escape the backslash itself: >>> print 'C:\\nowhere' C:\nowhere This is just fine But for long paths, you wind up with a lot of backslashes: path = 'C:\\Program Files\\fnord\\foo\\bar\\baz\\frozz\\bozz' Raw strings are useful in such cases They don t treat the backslash as a special character at all Every character you put into a raw string stays the way you wrote it: >>> print r'C:\nowhere' C:\nowhere >>> print r'C:\Program Files\fnord\foo\bar\baz\frozz\bozz' C:\Program Files\fnord\foo\bar\baz\frozz\bozz As you can see, raw strings are written with an r in front It would seem that you can put almost anything inside a raw string, and that is almost true.

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private ArrayList legGroup1 = new ArrayList(); private ArrayList legGroup2 = new ArrayList(); private private private private private static static static static static final final final final final int int int int int UP = 0; DOWN = 1; FORWARD = 2; BACKWARD = 3; NEUTRAL = 4;

Rich client platforms are based on international standards and reusable components. As a result, Java applications based on them can be automatically deployed to multiple different systems, such as Windows or Linux, so long as an implementation of the Java Runtime Environment is available. Since the feature set and the applicability of applications keep changing, it is very important that they are developed in such a way that they are extendable and can be deployed to different target systems. All this is provided by a rich client platform, saving time and money. Applications based on rich client platforms do not require further libraries or components, other than the Java Runtime Environment.

Of course, quotes have to be escaped as usual, although that means that you get a backslash in your final string, too: >>> print r'Let\'s go!' Let\'s go! The one thing you can t have in a raw string is a final backslash In other words, the last character in a raw string cannot be a backslash Given the previous example, that ought to be obvious If the last character (before the final quote) is a backslash, Python won t know whether to end the string or not: >>> print r"This is illegal\" SyntaxError: invalid token Okay, so it s reasonable, but what if you want the last character in your raw string to be a backslash (Perhaps it s the end of a DOS path, for example.

private int speed = 5; private static final int MIN_SPEED = 250; public Hexapod(JSerialPort serialPort) throws Exception { lm32 = new LM32(serialPort); // two methods for clean constructor init(); // init all legs setLegGroups(); // set legs in groups } // create legs private void init() throws Exception { // 1st position vertical servo (up/down) // 2nd position horzontal servo (forward/backward) leg1 = new BasicLeg(new ServoPosition2(0, 127, 50, 200), new ServoPosition2(1, 127, 50, 200));

Rich client platforms make a range of features and modules available, which can be used in the developer s own applications. If the module does not completely match the application s requirements, it is entirely possible to use it as a starting point, while extending it or changing it as needed. Since most platforms also make their source code available, it may also, in some cases, be worth considering changing or extending the platform itself. These factors imply a high degree of reliability and freedom.

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