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The Spin(short dir) subroutine simply runs the motors in opposite directions, calling the OnFwdReg NXC function. Using this function, the NXT firmware turns the motors on and regulates their speed precisely. Once a mine is found, the program flow goes back to main task. Here, the CenterMine() and CollectMine() subroutines are called sequentially. The CenterMine() subroutine attempts to find the mine s center of mass, measuring the mine s length. The program is left open to the development of a more refined centering procedure; for example, also measuring the mine s width. However, given that the size of the collectable objects is almost known, the grabber rarely fails in collecting them, even if they are not precisely aligned with respect to the robot s direction. You measure the mine length by calling the FindMineLength(short edge) function, passing as an argument the edge constant values TOP and BOTTOM. This function returns the left wheel s motor rotation count at the moment of the edge detection. The information about the other wheel angle is not important, because the motors are running synchronized. You can determine the center of the mine by subtracting the value returned by the second call from the wheel angle that s returned by the first FindMineLength call, and dividing the result by 2. The CenterMine subroutine calculates and uses this value to move the robot forward. Use Figure 7-7 as a reference.

Figure 7-7. This scheme shows the phases to align the mine before collecting it. Once the mine is detected (a), its precise position under the sensor is unknown; the only known thing is that the Light Sensor is reading a value well below the threshold value. The function FindMineLength saves the actual left wheel rotation count and, receiving the constant TOP as an argument, moves the robot forward until a transition from black to white occurs (b: top edge). This waiting is done by calling the WaitEdge(byte mode) function: the argument mode allows the caller to specify WaitEdge to wait for a black-to-white transition, or for a white-to-black transition, implemented by the two macros MINE_LOST and MINE_DETECTED, respectively. The first waiting mode is associated with the constant DISMISSING, meaning that you want to wait for the mine to go away from the sensor halo; the second mode is given the name APPROACHING, meaning that you want to wait for the mine to approach, until it comes under the sensor halo. To avoid unpredictable color measurement problems making this waiting become infinite, you can use a timeout mechanism. The timeout is detected using the same technique you have encountered in 6. The constants and macros the WaitEdge function uses are summarized in Table 7-1. Table 7-1. Constants Used in the Edge Detection Functions

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Android 1.6 and earlier allow you to change the size of your picture by pressing the Menu button when using the main Camera app. This could be useful if you want to take more pictures and are running out of storage space, or you want to send your photos by MMS. In Android 2.1, you can press the Menu button and then select Settings, but the easier solution is to drag open the Camera app s advanced settings tray (which you can see on the left in Figure 9 1, shown previously). The advanced settings menu is shown in Figure 9 4. In Android 2.2, this became even easier, and your settings are displayed as an onscreen overlay, as shown in Figure 9 2. Simply click the appropriate symbol and adjust the settings. Notice that the icon changes after you adjust an item to give you a visual clue about your settings.

Why the hell is that restore taking so long Well, it looks like the database has grown in size. It should take another 15 minutes. We need it to be finished now; why is it not done yet I understand that you need it done quickly, and as soon as it is done I will send you an e-mail, or I can call you if you prefer.

lso known as chicken walker, because of its shape and walking motion, the All Terrain Scout Transport (AT-ST) is a bipedal war craft employed by the Galactic Imperial Forces in the Star Wars saga. In this chapter, you ll build the AT-ST biped shown in Figure 4-1, guided by detailed building instructions. You ll program it to walk around, and by the end of this chapter, you ll have at your command one of the most famous battle robots in the history of cinema.

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