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Control Software for Mechanical Systems: Object-Oriented Design in a Real-Time World by J. R. Ridgely, J. D. Ringgenberg, D. M. Auslander

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Chapter 17The Gluing Cell Exercise In Tranrunj

TranRunJ is a Java implementation of the previously discussed task/state scheduling architecture. In order to illustrate its use, the Glue exercises of chapters 15 and 16 have been rewritten in Java. The following sections illustrate the construction of the same control system with the TranRunJ package.

17.1 Getting Started

The TranRunJ version of the Glue exercise closely parallels the group-priority example in C++. Rather than cover the same ground again, this chapter will use the Glue exercise to illustrate the use of the TranRunJ software. It is assumed that the reader is familiar with the simulation developed in chapter 15.

17.1.1 Program Entry Point

Since Java is a purely object-oriented ...

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