// Listing 7.9. Mechanizm tłumaczący PUMT — metody poruszające serwomotorami chwytaka i ramienia

         
87    public void moveGripper(float X) throws Exception 
88    {        
89         
90        Gripper.setAngle(X); 
91        while(SC.isMoving()) 
92        { 
93           Thread.sleep(1000); 
94        }    
95    } 
96         
97    public void moveArm(float X) throws Exception 
98    { 
99           
100        Arm.setAngle(X); 
101        while(SC.isMoving()) 
102        { 
103           Thread.sleep(1000);    
104        } 
105    }  
106         
107          
108    public void pickUpLargeObject() throws Exception 
109    { 
110        moveGripper(120);     
111        moveArm(40);                   
112        moveGripper(10);      
113        moveArm(100); 
114    } 
115           
116    public void pickUpVeryLargeObject() throws Exception 
117    { 
118        moveArm(60);            
119        moveGripper(120); 
120        moveGripper(20); 
121        moveArm(140); 
122    } 
123           
124    public void putObjectDown() throws Exception 
125    {           
126        moveArm(10);   
127        moveGripper(120); 
128        moveArm(140); 
129        moveGripper(10);                         
130    } 
131           
132    public void putLargeObjectDown() throws Exception 
133    { 
134        moveArm(40);   
135        moveGripper(120); 
136        moveArm(140); 
137        moveGripper(10); 
138    } 
139           
140    public void resetArm() throws Exception 
141    { 
142        moveArm(5); 
143        moveGripper(10); 
144    }
