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Keep in mind that the octets in the header form a serial bit stream when being transmitted, as shown in Fig. 15.3d. A cell is switched through a network on a path determined by the VPI and VCI fields. At each node in the network a cell is switched from one physical link to another. Two basic types of ATM switches are encountered. In one type, known as an ATM digital cross connect switch (DCS) the VPI field in a cell is overwritten by a new number on switching, while the VCI is left unchanged. This enables a number of virtual channels to be switched together, thus speeding up the switching process. The functioning of the DCS is illustrated in Fig. 15.4a, where for simplicity only the VPIs and VCIs are shown. These have been given hypothetical numbers for illustration purposes, for example 200/12 indicates a VCI of 200 and a VPI of 12. The look-up table in the DCS determines the new VPI for the virtual paths, and also the physical output link to which the paths must

For sin 2 , sin 2 = sin ( + ) = sin cos + cos sin = 2 sin cos [by Theorem 26.6(c)]

U T S R Q P 150/5 190/5 180/8 170/8 210/10 200/10

The difference between rBumper() and rDBumper({ExprN}) is that rDBumper({ExprN}) will light up an LED where the bumper is touching objects using the ExprN color or the second color on the invisible colors list If no color is speci ed with ExprN then the second color on the invisible colors list will be used If that is not speci ed then the color will be the oor color and the beacon may not be visible This is a useful feature for debugging the rBumper() result Do not use rDBumper({ExprN}) unless you are debugging since it is signi cantly slower than rBumper()..

S R Q P 180/9 170/9 210/12 200/12

CHAP. 26]

*rSense({ExprN}) Returns a number 0 to 7 according to the following logic: There are three sensors around the robot, at 10 to the left and right of the robot and directly in the front The sensors see only the color speci ed by ExprN or, if you don t specify ExprN, then the rst color on the invisible colors list If neither is speci ed then the oor color will be sensed The sensors only look at the ground directly under the sensor situated directly at the perimeter of the robot The number returned is a bitmap of the condition of the sensors If any of the sensors sees the ExprN color then its bit position is set to 1, otherwise it is 0 There are 3 bits MSBLSB 000.

U T 150/11 190/11

Z Y X W V 180/11 145/7 140/7 135/3 130/3

The most signi cant bit is the sensor 10 to the left, then ahead (0 ) and then 10 to the right If the number is 010 (2) then only the sensor in the front is on the line and the other two are outside of the line Use bitwise operators (bAND, bOR, etc) to manipulate the result rGround(ExprN ) The robot has a default of three sensors to look at the ground directly at the perimeter of the robot ExprN1 speci es the sensor number 1 = 10 to the right 2 = In front 3 = 10 to the left It will return the color seen by the sensor It will not ignore any color (ie, the colors on the invisible colors list are not ignored) It is up to you what to make of the value.

From Theorem 26.8, we deduce: Theorem 26.9 (Half-Angle Formulas): 1 + cos = 2 2 1 cos 2 (b) sin = 2 2 In fact, replace by /2 in Theorem 26.8: (a) cos2 (a) cos = cos 2 (b) cos = cos 2 EXAMPLES

ATM cross connect Lookup table In Out VCI VPI VCI VPI 130 3 135 11 135 3 125 10 140 7 132 9 145 7 145 9 180 11 140 7 (b)

If you want to ignore any colors use programming logic to do so rGroundA(ExprN ) This is the same as the rGround function, except ExprN1 is not a sensor number but rather an angle (0 359) clockwise relative to the robot heading A value of 90 is 90 to the right, 270 is 90 to the left So this command can be used to do the same as above but instead of a limit of 3 sensors you have 360 of them C94 SIMULATOR COMMANDS LISTED ALPHABETICALLY.

Z Y X 140/7 145/9 132/9

(a) sin 120 = sin (2 60 ) = 2 sin 60 cos 60 =2 3 2 1 2 = 3 2 sin2 3 3 1 1 3 = 4 4 2 3 1+ 6 = 2 2