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2 (do not type the line numbers) In Line 07 the variable LC is initialized to 0 This variable will hold the value of the last command issued In Lines 11 to 15 we check if a key is pressed, and if so, we check if it is the same as the last one pressed If it is then we make it 0 to cancel the last command The new command is then stored in LC Notice Line 16, the LC value is converted in place of k as in Fig 41 This (and the use of GetKey instead of WaitKey) is what makes the program continue doing the last command until the same key or a new key is pressed To summarize, Lines 07 and 10 to 16 make the program continue to execute the last command until a new one or the same one is issued.

950 1450 MHz To indoor unit (IDU)

Block schematic for the outdoor unit (ODU).

This makes the command style a toggle action The rest of the program is similar to the one in Fig 41 The delay of 200 milliseconds in Line 14 is necessary to give the user time to release the button before the program checks again for a button press Without this delay the user may not have time to release the button before the next check and the program will consider that the user has pushed the button again Without this delay it would be very dif cult for the user to signal the program correctly Try removing (or commenting out) Line 15 and see what happens..

For a proof, see Problem 34.2. u PROPERTY 6. ln = ln u ln v. v u Proof: In Property 5, replace u by . v 1 PROPERTY 7. ln = ln v. v Proof: Let u = 1 in Property 6 and use Property 1. PROPERTY 8. For any rational number r, ln x r = r ln x.

The reduction in gain is given by (see Baylin and Gale, 1991)

01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 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 2 LC = 0 while true XYString 2,2,rGpsX(),",",rGpsY(),",",rCompass()," " getkey k if k <> 0 if k = LC then k = 0 LC = k Delay 200 endif C = char(LC) 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

e8.8

CHAP. 34]

(16.7)

In this style of remote control the robot carries out a series of actions to accomplish a task speci ed by the user. For this simulation the mouse will be used as a laser designator. If you are familiar with laser targeting devices used by the military you will recognize this style of remote control. The device uses a laser to designate a target for a missile. The missile locks onto the target and moves there. We will emulate this by using the mouse to designate the target we want the robot to go to. The robot will lock onto the mouse position and go there. The robot will also be able to draw on the screen while moving to help you see the actions that took place (this can also make the robot act as a sketcher). The robot will use its GPS and compass to calculate the difference between its current position and heading and the target s position and direction. 4.3.1 THE MATHEMATICS Figure 4.3 shows a representation of the calculations that are necessary for this algorithm. The robot s location is represented by the coordinates Rx, Ry. Rx is the robot s horizontal position on the screen in relation to the top left-hand corner which is position 0, 0. Ry is the vertical position. The target is located at Tx, Ty. The difference between the x-coordinates of the robot and target is dX. The difference in their y-coordinates is dY. As you can see from Fig. 4.3, the two values can be used to calculate the distance R between the robot and the target. This is an application of the pythagorean theorem.

where is the rms tolerance in the same units as l, the wavelength. For example, at 12 GHz (wavelength 2.5 cm) and for an rms tolerance of 1 mm, the gain is reduced by a factor

dX Robot (Rx, Ry) CH = Robot's compass heading dA = Angle to tum TA = Target's angle from x-axis dX = Tx Rx dY = Ty Ry TA = Tan 1 (dY/dX)

ln x is an increasing function. 1 > 0, ln x must be an increasing function. x ln u = ln v implies u = v. 1 < ln 2 < 1. 2

e8.8

0.1/2.5