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Back in the days when a car phone meant your phone was built into a car, cell towers actually carried an analog signal, much like a radio signal but at a different frequency. This was the first generation, or 1G, system. The next wave of technology was 2G. Instead of using an analog signal, 2G networks are digital, and most (but not all) carriers started settling on the GSM standard. Verizon and Sprint opted for CDMA instead. Today most networks offer higher-speed 3G networks of various names, and some are even starting to roll out 4G networks. Once you ve selected a phone and a carrier, you don t really need to understand all the technical specs of the various wireless technologies and how they re marketed, but you do need to understand the basics. Other than voice, there are four basic ways your phone connects to signals. Those are Wi-Fi, Bluetooth, GPS, and data.

If you have well-defined SLAs in place, then it is easier to manage expectations, right Wrong. Just because you have a defined SLAs in place does not mean people will stop expecting you to have everything done yesterday. If someone requests a database restore and you get it done in 30 minutes, then that person is going to expect that same turnaround time for each subsequent request. A few days later you may be asked to do it again, and it will take 45 minutes because the volume of data is greater. But the

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int FindMineLength( short edge ) { // this function returns the left wheel rotation count (angle) // used to measure the mine length as the // distance between top and bottom edge int y; byte ev; // save start position y = MotorRotationCount(LEFT_WHEEL); OnFwdSync(WHEELS,sign(edge)*30,0); if (edge == BOTTOM) { // ignore the first edge found (the top one) WaitEdge(APPROACHING); } // wait for mine dismissing with timeout constraint ev = WaitEdge(DISMISSING); Off(WHEELS); if (ev == EDGE_EV) { // if the edge was found, save position y = MotorRotationCount(LEFT_WHEEL); } return y; } //===================================================================// // CENTER THE MINE // //===================================================================// sub CenterMine() { int length; // this file should be present in the NXT memory // if you have downloaded the latest complete firmware PlayFile ("! Attention.rso"); TextOut(0,LCD_LINE5,"CENTERING MINE "); // find top and top and bottom edges of the mine // to measure its length TextOut(0,LCD_LINE6," TOP EDGE "); length = FindMineLength(TOP); TextOut(0,LCD_LINE6," BOTTOM EDGE "); length = length - FindMineLength(BOTTOM); // and then center the mine

Wi-Fi signals are generally the fastest way to connect to the Internet. This is the same technology that connects laptops and other wireless devices to networks. It s fast but

customer may now expect it in 30 minutes, and will think you are performing your job poorly as compared to the other times. How do you manage that expectation Do you communicate every action (e.g., I ll start it now, and e-mail when done. ) Do you configure and build a process to automagically send an e-mail when the task is complete No matter what you decide, the key point to remember is consistency. Hopefully you will have a good customer; one that is professional enough to ask if there was any issue as to why it took 15 minutes longer today. If you are unlucky, then you will have someone just accuse you of being incompetent or unwilling to help when they needed you.

RotateMotor(WHEELS,40,length/2); // // HERE YOU CAN ADD A SIMILAR PROCEDURE TO // MEASURE THE MINE WIDTH // // clear line 6 of the screen TextOut(0,LCD_LINE6," "); } //===================================================================// // COLLECT THE MINE // //===================================================================// sub CollectMine() { TextOut(0,LCD_LINE5,"COLLECTING MINE "); // move forward to get the mine between the claws RotateMotorEx(WHEELS, 50, 115, 0, true, true); ResetAllTachoCounts(WHEELS); StopSound(); // grab the mine and lift it RotateMotorPID(GRABBER,90,1460,30,30,60); // release the mine into the hold, and lower the arm again RotateMotorExPID(GRABBER,-100,1000,0,false,false,30,20,50); GrabberZeroPosition(); } task main () { // call the initialization subroutine MineSweeper_init(); // execute the sequence of actions forever // using the preceding subroutines while ( true ) { SearchMine(); CenterMine(); CollectMine(); } } The program starts, as always, by executing the main task, which is the only task running in this program. In main, the MineSweeper_init() subroutine is called to perform robot initialization. After the sensor ports are configured to read data from the Light Sensor and the Ultrasonic Sensor, the color of the ground is acquired to set the threshold that will be used in the rest of the program to distinguish the dark mines on the ground. Then, the grabber arm is brought into its zero position by the GrabberZeroPosition() subroutine, using the useful motor stall detection algorithm you have seen throughout the book.

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