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OnRev(R_JOYSTICK,sign(Rpos)*TORQUE); OnRev(L_JOYSTICK,sign(Lpos)*TORQUE); When they get inside the center zone with a 3 degrees tolerance around 0, the servomotors are stopped with Float. Using Off would make them too hard to move with the thumbs. The TORQUE constant value passed to the OnFwd functions shown earlier equals a speed of just 7, ideal to keep the joysticks reactive, but still soft enough to move from the center. The factor sign(Xpos) is used to move the joystick in the opposite direction, with respect to the one you are pushing. This way, you can obtain the self-centering joysticks feature. Because you are dealing with precise servomotors (giving you a one-degree resolution angle measure), you can drive the robot at a variable speed, with the common convention that the more the joysticks are displaced, the faster the robot will go. It is not practical to associate every degree step to one-hundredth of the motor s full speed. It would be impossible to control a robot just to go straight! Four incremental speeds are more than sufficient, so I defined some angle thresholds, as shown in Figure 9-2.

(http://www.codeplex.com/).

Summary

Figure 9-2. The analog joystick sectors used to achieve gradual speed control When the joystick lies inside one of those sectors, the corresponding speed is used. This is done by the AngleToCommand function, which accepts the relative joystick angle as an argument pos and returns one of the speed levels defined at the beginning of the program. Then, the GetTriggers function reads the status of the Touch Sensors and stores it into the triggers variable. The following statement packs the status of both triggers into the triggers variable: triggers = 2*Sensor(L_TOUCH) + Sensor(R_TOUCH); This variable can assume the following values: No Trigger Pressed Left Trigger Pressed Right Trigger Pressed Both Triggers Pressed triggers triggers triggers triggers = = = = 0 2 1 3 (base (base (base (base 10) 10) 10) 10) = = = = 00 10 01 11 (base (base (base (base 2) 2) 2) 2)

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/** * request the game to pause. This method is called * by the application management software, not in * response to a user pausing the game. */ public void pauseApp() { try { if(myCanvas != null) { setGoCommand(); systemPauseThreads(); } } catch(Exception e) { errorMsg(e); } } //---------------------------------------------------------------// implementation of CommandListener /* * Respond to a command issued on the Canvas. * (either reset or exit). */ public void commandAction(Command c, Displayable s) { try { if(c == myGoCommand) { myCanvas.removeCommand(myGoCommand); myCanvas.addCommand(myPauseCommand); myCanvas.flushKeys(); userStartThreads(); } else if(c == myPauseCommand) { myCanvas.removeCommand(myPauseCommand); myCanvas.addCommand(myGoCommand); userPauseThreads(); } else if(c == myNewCommand) { myCanvas.removeCommand(myNewCommand); myCanvas.addCommand(myPauseCommand); System.gc(); myCanvas.reset(); myCanvas.flushKeys(); myHiddenPause = false; myGamePause = false; startThreads(); } else if(c == myMusicCommand) { if(myMusicMaker != null) { myMusicMaker.toggle(); myCanvas.repaint();

With the community and the Microsoft patterns & practices team behind Enterprise Library, expect to see new features and components keep popping up. As .NET grows, so will the continual need to provide best practices and guidance in developing .NET applications. As .NET 3.5 is around the corner, expect new and exciting features to be included in the next version of Enterprise Library, as well as other application blocks provided by the Microsoft patterns & practices group.

After all the measurements are done, the ShowCommands subroutine is called. This subroutine has just the aesthetic purpose to show, on the NXT screen, the actual commands that are sent to the robot. It provides you with visual feedback on the actual speed level on both analog channels, by drawing many arrows > (forward) or < (reverse), according to the actual speed

The Data Access Application Block implements a class called SqlHelper, which is a data access helper component. The SqlHelper class simplifies execution statements against SQL Server 7.0 and newer by exposing a set of static methods and reducing the amount of code required to perform the specific function. Another class, SqlHelperParameterCache, assists the SqlHelper class by caching the SqlParameter objects so that they can be repeatedly reused without having to be re-created. SqlHelperParameterCache even has the ability to query a stored procedure and return a SqlParameters collection, which is needed to interact with it. Although overall this does not

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