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It is advisable to always use a library wrapper module when integrating a third-party library into an application. Creating a new module in this way for a third-party library adds to the value and maintainability of the application as a whole, because you can then set dependencies on the library via the module that wraps it. In some cases, it is desirable to add the third-party library directly to the module using it. Taking this approach is simple and similar to creating library wrapper modules. Open the Project Metadata file (project.xml) in the Important Files node in your module project, within the Projects window. For each library you want to include in your module, create a class-path-extension entry (see Listing 3-11). Via the runtime-relative-path attribute, define the path where the library is found in the distribution. Before, this was done automatically by the wizard. Use the binary-origin attribute to specify the location where the original library is found. As you see, this is the same approach as taken with library wrapper modules. Listing 3-11. Project metadata file with classpath extension <project xmlns="http://www.netbeans.org/ns/project/1"> <type>org.netbeans.modules.apisupport.project</type>

The only field I will use in this class will be arm, of type BasicArm. The constructor takes the JSerialPort and moves the arm to its rest position. Of the two position methods, toA() and toB() encapsulate the positions of A and B in a method so that you don t have to remember them from within an invoking class. I pause between the methods so that motion can stop since the movement is still jerky. (See Example 3-16.)

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<configuration> <data xmlns="http://www.netbeans.org/ns/nb-module-project/3"> <code-name-base>com.galileo.netbeans.module</code-name-base> <class-path-extension> <runtime-relative-path>ext/org-hboeck-mp3.jar</runtime-relative-path> <binary-origin>release/modules/ext/org-hboeck-mp3.jar</binary-origin> </class-path-extension> </data> </configuration> </project> Via this entry in the project metadata file, the creation of the module results in the library being copied to the ext/ folder. In the manifest file, the entry Class-Path: ext/com-hboeckmp3.jar is added. In contrast to a library wrapper module, the packages of the library are not exposed. As a result, they can only be used by the module where the library is found, which is normally the reason for taking this approach in the first place. It is also possible to define the packages as being public, which is automatically the case with library wrapper modules.

Example 3-16. ArmTest1.java package com.scottpreston.javarobot.chapter3; import com.scottpreston.javarobot.chapter2.JSerialPort; import com.scottpreston.javarobot.chapter2.SingleSerialPort; import com.scottpreston.javarobot.chapter2.Utils; public class ArmTest1 { private BasicArm arm; public ArmTest1(JSerialPort sPort) throws Exception { arm = new BasicArm(sPort); arm.rest(); } // to position a public void toA() throws Exception { arm.shoulder(50); Utils.pause(1000); arm.elbow(200); } // to position b public void toB() throws Exception { arm.shoulder(150); Utils.pause(1000); arm.elbow(50); } // sample program public static void main(String[] args) { try { JSerialPort sPort = (JSerialPort) SingleSerialPort.getInstance(1); ArmTest1 arm1 = new ArmTest1(sPort); arm1.toA(); arm1.toB(); arm1.toA(); sPort.close(); } catch (Exception e) { e.printStackTrace(); System.exit(1); } } }

Note The expression eval(raw_input(...)) is, in fact, equivalent to input(...).

The arm in the next example will have one more servo than the Lynxmotion 5 Axis arm above. This arm will have a total of six servos to control, and because this time I want to eliminate the jerky movement, I will use the LM32 controller and class. The arm will have the following degrees of freedom shown in Table 3-1.

Bear in mind that putting a third-party library into a module works against its modularity and maintainability. Put a library directly into a module only when the library will be used solely by the module in question, and if it is not a problem to distribute the third-party library together with the module that uses it. Finally, avoid loading the same library from two different modules. This can lead to problems that are difficult to solve because their causes are hard to identify. Also, do not use the Class-Path attribute to reference module JAR files or libraries found in the lib/ folder.

You can supply a namespace with eval, just as with exec, although expressions rarely rebind variables in the way statements usually do. (In fact, you can supply eval with two namespaces, one global and one local. The global one must be a dictionary, but the local one may be any mapping.)

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