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) Well, I ve given you a whole bag of tricks in this section that should help you solve that problem, but basically you need to put the backslash in a separate string A simple way of doing that is the following: >>> print r'C:\Program Files\foo\bar' '\\' C:\Program Files\foo\bar\ Note that you can use both single and double quotes with raw strings Even triple-quoted strings can be raw..

leg2 = new BasicLeg(new ServoPosition2(4, 127, 50, 200), new ServoPosition2(5, 127, 100, 150)); leg3 = new BasicLeg(new ServoPosition2(8, 127, 50, 200), new ServoPosition2(9, 127, 50, 200)); leg4 = new BasicLeg(new ServoPosition2(16, 127, 200, 50), new ServoPosition2(17, 127, 200, 50)); leg5 = new BasicLeg(new ServoPosition2(20, 127, 200, 50), new ServoPosition2(21, 127, 150, 100)); leg6 = new BasicLeg(new ServoPosition2(24, 127, 200, 50), new ServoPosition2(25, 127, 200, 50)); } // put legs into walking groups private void setLegGroups() throws Exception { legGroup1.add(leg1); legGroup1.add(leg3); legGroup1.add(leg5); legGroup2.add(leg2); legGroup2.add(leg4); legGroup2.add(leg6); } // this will create an entire string of commands for all legs public String getTotalMove(ArrayList legs, int cmd) throws Exception { StringBuffer cmds = new StringBuffer(); for (int i = 0; i < legs.size(); i++) { BasicLeg tmpLeg = (BasicLeg) legs.get(i); if (cmd == UP) { cmds.append(tmpLeg.up()); } if (cmd == DOWN) { cmds.append(tmpLeg.down()); } if (cmd == FORWARD) { cmds.append(tmpLeg.forward()); } if (cmd == BACKWARD) { cmds.append(tmpLeg.backward()); } if (cmd == NEUTRAL) { cmds.append(tmpLeg.neutral()); } } return cmds.toString(); }

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The NetBeans Platform offers, aside from the generic advantages of a rich client platform, numerous frameworks and several further specifics that can be particularly useful to your applications. The important ones, which constitute the main characteristics of the NetBeans Platform, are outlined here: User interface framework Data editor Customization display Wizard framework Data systems

Now you ve cleared the basics. You can implement any algorithm you can dream up; you can read in parameters and print out the results. In the next couple of chapters, you learn about something that will help you write larger programs without losing the big picture. That something is called abstraction.

// sample to move forward gate public void forward() throws Exception { lm32.setRawCommand(getTotalMove(legGroup1, lm32.move(getSpeedInMs()); lm32.setRawCommand(getTotalMove(legGroup2, lm32.move(getSpeedInMs()); lm32.setRawCommand(getTotalMove(legGroup2, lm32.move(getSpeedInMs()); lm32.setRawCommand(getTotalMove(legGroup1, lm32.move(getSpeedInMs()); lm32.setRawCommand(getTotalMove(legGroup2, lm32.move(getSpeedInMs()); lm32.setRawCommand(getTotalMove(legGroup1, lm32.move(getSpeedInMs()); lm32.setRawCommand(getTotalMove(legGroup1, lm32.move(getSpeedInMs()); lm32.setRawCommand(getTotalMove(legGroup2, lm32.move(getSpeedInMs()); }

Windows, menus, toolbars, and other components are made available by the platform. As a result, you focus on specific actions, which condense your code, making it better and less error-prone. The complete user interface offered by the NetBeans Platform is based 100% on AWT/Swing and can be extended with your own components.

DOWN)); UP)); FORWARD)); BACKWARD)); DOWN)); UP)); FORWARD)); BACKWARD));

n this chapter, you learn how to group statements into functions, which enables you to tell the computer how to do something, and to tell it only once. You won t have to give it the same detailed instructions over and over. The chapter provides a thorough introduction to parameters and scoping; you learn what recursion is and what it can do for your programs, and you see how functions themselves can be used as parameters, just like numbers, strings, and other objects.

The powerful NetBeans editor within the NetBeans IDE can be used by your own application. The tools and functionality of the editor can quickly and easily be extended and adapted to the purposes of the application.

public static void main(String[] args) { try { JSerialPort sPort = (JSerialPort) SingleSerialPort.getInstance(1); Hexapod hex = new Hexapod(sPort); hex.forward(); hex.forward(); sPort.close(); } catch (Exception e) { e.printStackTrace(); System.exit(1); } } public void forward(int ms) throws Exception { if (getSpeedInMs() * 8 < ms) { throw new Exception("Speed requested is less than minimum speed."); } int remaining = ms; while (remaining > getSpeedInMs() * 8) { forward(); remaining = remaining - getSpeedInMs() * 8; } Utils.pause(remaining); }

A display of user- and application-specific settings is needed in every application. The NetBeans Platform makes a framework available, making it extremely simple to integrate your own options dialogs, letting the user save and restore settings in a way that is pleasing to the eye.

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