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Now that you know all the subroutines, look at Listing 5-5 to see how the main task uses them. Listing 5-5. The main Task Code for the Omni-Biped task main () { int timer = 0, direction; //initializes sensors and direction variable Biped_init(); direction = FORWARD;

The RAID 1+0 level offers the highest performance of any RAID level. It provides fault tolerance, too. And it costs more money, because you need twice as many disks.

while (true) { //tells the direction it is going in AnnounceDir(direction); //starts walking OnFwdSyncEx (BOTH_LEGS, WALK_SPEED, sign(direction)*90, RESET_NONE); Wait(SEC_1); //waits for obstacle if going forward if (direction==FORWARD) { while (SensorUS (EYES)>NEAR); } else //waits for obstacle or time elapsing if turning { timer = 0; while (SensorUS(EYES)>NEAR && timer<TURN_TIME) { timer++; Nmessage(timer); } } Off (BOTH_LEGS); //realigns legs to the ground, as they were at program start RealignLegs(); //if the obstacle is still there, walk backwards... if (SensorUS(EYES)<FAR) { OnRevSyncEx (BOTH_LEGS, WALK_SPEED, 0, RESET_NONE); //...until the obstacle goes out of sight while (SensorUS(EYES)<FAR); Off (BOTH_LEGS); RealignLegs(); } //plans to turn in a random direction if the robot was going forward //plans to go straight if the robot has just finished turning if (direction==FORWARD) direction = 1-2*(Random(2)); else direction = FORWARD; } }

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From within the Messaging app, press the Menu button and select Settings, as shown in Figure 5 4. You have several options to control how you manage your messages, including how your messages are stored and when you automatically delete old ones. If it s vital that your recipient read the message, you can use the Read reports and Delivery reports options. Unfortunately, as of Android 2.1, read reports don t work reliably, so ask for confirmation directly from the recipient instead. You can also use the app chompSMS, which supports the feature. An option toward the bottom of the screen that you should definitely watch is Roaming auto-retrieve. It s off by default, and on most phones it should remain that way. When this is on, your phone will still try to retrieve messages while you re roaming, and that could mean a roaming charge on your phone bill.

You call the Biped_init subroutine to configure the Ultrasonic Sensor port and to reset the leg rotation count The direction local variable is initialized to FORWARD (an alias yielding 0); then the program enters the infinite while(true) loop The robot announces the chosen direction with the NXT speaker and then the motors are started in synchronized mode, meaning they will wait for each other if one of them slows down The expression sign(direction)*90 determines the turning ratio This turning ratio depends on the value of the direction variable, which can assume only the three constant values: FORWARD (0), RIGHT (1), or LEFT(-1) The resulting turning ratio can be 0, and the motors will run synchronized in the same direction If the resulting ratio is 90 or -90, the motors will run in opposite directions, allowing the robot to turn.

It depends, of course. Do you want your data to stay online when one drive fails Most people do, but perhaps you do not. In that case, RAID 0 is for you! No need to worry about parity or mirroring, just configure your disks as one big striped set and be done with it. What about performance and costs Most people care about them as well, and chances are you care, too. But when it comes to SQL Server, you will find that no one RAID level is going to suit your every need. Wait a minute . . . do you know what those needs are yet Well, let s discuss them in their simplest view.

The SMS standard is pretty old. It s handy because it s a standard, but there are plenty of other ways to send non-voice messages on smartphones, and a lot of them may make more sense with the way you use your phone. You also may want features that just aren t supported by the default Messaging app. This section will explore alternatives to SMS text messaging, like instant messaging (IM), and look at ways to use your data plan to send SMS messages.

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