The example below, for use as a stand-alone Java program, will cause a Hemisson robot to move forward until it is near an obstacle. The stand-alone program does not have the benefit of the ControlCenter’s graphical interface, but allows for the greater flexibility and more precise control often needed for research applications.

public class HemissonApproachStandAlone {

    public static void main(String[] args) throws InterruptedException {

        Hemisson hemi = new Hemisson();

        hemi.startUp(); // will ask user to pick Hemisson

        HemissonProximitySensor hps = new HemissonProximitySensor();

        hemi.addDevice(hps);

        HemissonDifferentialDrive hdd = new HemissonDifferentialDrive();

        hemi.addDevice(hdd);

        int maxFront = hps.getMaximum(HemissonProximitySensor.FRONT_GROUP);

        hdd.translate(0.5); // forward at half speed

        while (maxFront < 15) {

            Thread.sleep(50);

            maxFront = hps.getMaximum(HemissonProximitySensor.FRONT_GROUP);

        }

        hdd.translate(0); // stop

        hemi.shutDown(); // close connection.

    }

}

Additional Examples