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Calling functions is a little slower than accessing a variable. We would be calling functions eight times, each time we loop, if we use the function in each statement directly. It is important to realize that we can only use the stored data because the robot is not moving after the rBumper() statement is executed. Lines 12 to 15 use if-statements to determine what key was pressed and execute the right action. Line 11 gets the state of the bumpers using rBumper() as in Chap. 3. We use this value (B) to test to see if the front bumper (Line 12) or the back bumper (Line 13) is pressed before moving forward or backward, respectively. You will learn more about this action in Chap. 5. In this chapter just accept that the statement not(B & 4) means that the front bumper is not pressed and not(B & 1) means the back bumper is not pressed [remember B = rBumper()].

names (H.264, H.26L, ISO/IEC 14496-10, JVT, MPEG-4 AVC, and MPEG-4 Part 10) and the abbreviation AVC is commonly used to denote advanced video coding. Following the usage in Sullivan et al., it will be denoted here by H.264/AVC. Areas of application include video telephony, video storage and retrieval (DVD and hard disk), digital video broadcast, and others. In general terms, MPEG-4 provides many features not present with other compression schemes, such as interactivity for viewers, where objects within a scene can be manipulated, but from the point of view of satellite television, the major advantage is the reduction in bit rate offered. About a 2:1 reduction in bit rate, on average is achievable with H.264/AVC compared with MPEG-2, and in July 2004, an amendment known as fidelity range extensions (FRExt, amendment 1) was added to H.264/AVC that can provide a reduction of as much as 3:1 in certain situations (Sullivan et al., 2004). FRExt supports 4:2:2 and 4:4:4 sampling. As with MPEG-2 the analog outputs from the red (R), green (G), and blue (B) color cameras are converted to a luminance component (Y) and two chrominance components (Cr) and (Cb) but with a different M matrix, this being: Y C Cr S Cb 0.2126 C 0.119977 0.561626 0.587 0.331264 0.418688 0.0722 R 0.523589 S C G S 0.051498 B

[reversing limits of integration]

01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17

(16.6)

It follows that any format conversion would require a matrix recalculation. H.264/AVC takes advantage of the increases in processing power available from computer chips, but at the cost of more expensive equipment, both for the TV broadcaster and the consumer. As with MPEG-2, frames are compared for changes through comparing macroblocks of 16 16 pixels, but H.264/AVC also allows for comparisons of submacroblocks of pixel groups 16 8, 8 16, 8 8, 8 4, 4 8, and 4 4. At present it is not backward compatible with MPEG-2, which may present a problem with some high definition TV (see Sec. 16.13). 16.8 Forward Error Correction (FEC) Because of the highly compressed nature of the DBS signal, there is little redundancy in the information being transmitted, and bit errors affect the signal much more severely than they would in a noncompressed bit stream. As a result, FEC is a must. Concatenated coding is used (see Sec. 11.6). The outer code is a Reed-Solomon code that corrects for block errors, and the inner code is a convolution code that corrects for random errors. The inner decoder utilizes the Viterbi decoding algorithm. These FEC bits, of course, add overhead to the bit stream. Typically, for a

rectangle 300,300,500,500,red,red circle 100,100,200,200,blue,blue circle 600,500,700,550,magenta,magenta rectangle 0,0,130,22,blue,blue rlocate 400,200,270 //--style 1 while true XYString 2,2,rGpsX(),",",rGpsY(),",",rCompass()," " waitkey "Press l,r,f, or b", k C = char(k) B = rBumper() if (C="f" or C= F ) and not(B & 4) then rForward 1 if (C="b" or C= B ) and not(B & 1) then rForward -1 if (C="l" or C= L ) then rTurn -1 if (C="r" or C= R ) then rTurn 1 wend End