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The switch statement then uses the runState variable to decide what to do: to turn right or left, whether runState has the TURN_RIGHT or TURN_LEFT value, or to go straight if it corresponds to WALK. In the turning functions, the number inside the brackets indicates how many times the turning movement pattern must be repeated. If the AT-ST decides to walk straight, it will stop only when it detects an object. After the walk, in whichever direction, the CenterWeight() and CenterLegs() subroutines realign the head and legs. Now that you know all about the basic behavior of the AT-ST, it s time to see what s inside the subroutines to realign the head and the legs. Let s dissect them by looking at Listing 4-3, for the leg-centering subroutine. Listing 4-3. The CenterLegs Subroutine sub CenterLegs() { int t; t = MotorRotationCount(LEGS); //save actual position OnFwd(LEGS,65);

his chapter started out in life as a report on certain aspects of IBM s relational or SQL, at any rate product DB2 My own work at the time was heavily involved with integrity constraints, so I thought it might be useful to take a look at the integrity support provided by DB2, since DB2 was and is clearly one of the market leaders in the field of SQL products However, my investigations quickly led me off in another direction entirely To be specific, I found that, not only was the DB2 support considerably less extensive than I d hoped, but it was quite hard to understand just what that support actually consisted of, owing to the truly dreadful quality of the user documentation.

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Listing 3-7 contains the calculation for how many columns of background tiles are needed to cover three times the width of the screen. Then, since grass is sparse in this cowboy s world, only some of the background tiles have grass. To keep it simple, the sequence of cells repeats after every five columns: the zeroth and second columns contain the image of blades of grass; the others do not. To illustrate, if the screen were just a little narrower than eight cells wide, then the tiled layer of Grass would be one row high and 24 columns wide, and would look like Figure 3-8.

This chapter subjects a few extracts from that documentation to a detailed critical analysis, with a view, in part, to (just possibly) getting some improvements in the situation Note: I wanted to include this chapter in this book because, as well as being relevant, somewhat, to the theme of relational misconceptions in particular (see Part 6), it also serves as an introduction to the gentle art of deconstruction Deconstruction is a technique of literary criticism and analysis, a technique that I find extremely effective in helping combat some of the nonsense that appears in the trade press and elsewhere on matters that I happen to know something about and think are important Let me elaborate First, the useful verb deconstruct is defined by the Oxford English Dictionary as follows: To undo the construction of, to take to pieces ...

Wait(100); // if position does not change more than specified angle in specified time while( abs(t-MotorRotationCount(LEGS))>10 ) { t = MotorRotationCount(LEGS); Wait(100); } Off(LEGS); RotateMotor(LEGS,50,-120); Wait(200); legsState = CENTER; } The legs have no evident sensor to let the NXT know which direction they are oriented in. Don t forget, we aren t working with mere motors. The NXT motors contain optical encoders to measure the shaft s relative angle. Thus, all the sensors we need are already inside the motors. The motor s actual angle is saved into the variable t and the motor is started to orient the legs to the left. How can you know if the legs have reached their limit position Here, I adopted a trick to measure the motor shaft s speed: after the motor has started, the NXT continuously checks if the motor shaft is rotating to a minimum number of degrees (10) in a certain period of time (100ms). The small angle and the time interval were chosen appropriately for the application. What I said in words can be translated into this code: while( abs(t-MotorRotationCount(LEGS))>10 ) { t = MotorRotationCount(LEGS); //update starting angle Wait(100); //wait 100ms } While the angle of the shaft varies more than 10 degrees in the time interval of 100ms, the program doesn t stop the motor. However, if the motor cannot accomplish this angle in this little bit of time, it means that the legs are stopped by something and the motor is stalling, so it is turned off. The shaft speed is measured every 100ms as the difference between the angle stored in the variable t and the angle measured time by time with the MotorRotationCount() function.

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