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To test a single bit in a byte (like the bumps wheeldrops sensor byte), don t use an equality test like if(bumps==2) to test for bump left. This is because if more than one bit is set, the value is the combination of those bits. This is similar to the setting and clearing bits issue mentioned earlier. For example if both left and right bump sensors are triggered, then bumps equals 3. Instead use a bit mask and bit shifts to get only the bit you want. The proper way to test for bump left would be if(((bumps&0x02)>>1)==1).Such math-heavy bit manipulation is often hard to read, so the RoombaComm API introduced below abstracts these tests out to a set of methods like bumpLeft(). In 6 you ll explore how to create these methods for all sensor bits.

It also contains a cookbook (a document containing a collection of recipes ) that describes how to use the starter kit in some common J2EE implementation alternatives and offers hints for how to customize the starter kit to work in other scenarios and implementation alternatives In Section 171, we discuss the high-level considerations for the starter kit First, we will discuss the starter kit s goals and its architecture Next, we will provide separate architectural overviews for the framework and extension, which are contained.

1.00 .83 .91 .85

is the level or target in the movie that receives the variables. (The getURL action does not take this parameter.) For more information about levels and targets, see About multiple Timelines on page 246. sets the HTTP method, either GET or POST, by which the variables will be sent. When omitted, the Player defaults to GET, but no variables are sent.

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Event sequencing is a bit more complicated than you might think. The events listed above are Application-level events. When adding a new worksheet, additional events occur at the Workbook level and at the Worksheet level.

In this chapter behavior has been de ned and a broad overview to the methodologies that we use when we study it has been provided. Speci cally the idea that animal behavior is a robust science has been reinforced through a demonstration that it follows the tried and tested scienti c method of observation leading to hypothesis generation and experimental testing. It has been shown that it is essential that we consider behaviors as being adaptations, the products of evolution by natural selection. In addition, the study of animal behavior has been demonstrated to have a clear relevance to several areas of our daily lives.

Appendix A: Soldering and Safety Basics. . . . . . . . . . . . . . . . . . . . . . . . . . 383 Appendix B: Electrical Diagram Schematics . . . . . . . . . . . . . . . . . . . . . . . . 405 Appendix C: iRobot Roomba Open Interface (ROI) Specification . . . . . . . . . . . . 415 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427

1 .6

Figure 10.14 shows IP infrastructure of an IPDC system used for broadcasting. The gure shows two different hypothetical services marked by dashed and dotted ows (lines). The topmost IPDC cell (A) provides only the dashed service, the middle one (B) both dashed and dotted, and the lower one (C) only the dotted service. The QoS-enabled backbone is assumed to be a multicast-enabled IP network, and the following discussion applies to the various options for routing and networking. The service and delivery management system on the left of the gure is used to control encapsulator elements (marked e ). Because of the unidirectional nature of the delivery, the encapsulator elements act as proxy clients and are responsible for joining to the multicast routing tree so as to subsequently forward the relevant data packets onto the broadcast radio link. In principle, encapsulator elements join as a result of a management system decision. The service system is the source of multicast services that provide content using the IP multicast network. In the gure, the management system has given instructions to the encapsulators feeding cells A and B to send join message to dashed service and encapsulators B and C to send join message to dotted service. The IP multicast network routes services automatically to encapsulators, and the exact mechanism depends on the routing protocols and

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