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While inside the loop, the robot checks its current heading relative to the direction it wants to face. I call this reading relHeading (short for relative heading), and to keep the degrees always between 0 and 360, I added 360 to those relative headings less than zero. Once the robot knows its relative heading, it can begin turning. If the relative heading is between 0 and 180, then I tell it to pivot left. If the relative heading is between 180 and 360, then I tell it to pivot right. Depending on how far away the robot is from its target position, I decrease the turn time. Then once the accuracy is reached, I make sure the drive is stopped. I break out of the loop and I reset the speed to 2. The next methods in the class are two move() methods. One takes a DistanceVector and the other takes a MotionVector. For the method taking the DistanceVector as a parameter, inches get converted to seconds using the getSurfaceRate() method. It is important to take measurements for this if you are not using an encoder. If you are using an encoder, then your drive class will already have a mechanism for stopping you at a specified distance, so here you would call that method from your drive class rather than do a conversion. Finally, in the main() test method, the robot moves in a 3-foot square box in the directions east, north, west, and south. In the end, it should be right back where it started, provided that your calibrations are correct. (See Example 7-10.) Example 7-10. Navigation.java package com.scottpreston.javarobot.chapter7; import import import import import com.scottpreston.javarobot.chapter2.JSerialPort; com.scottpreston.javarobot.chapter2.Utils; com.scottpreston.javarobot.chapter2.WebSerialClient; com.scottpreston.javarobot.chapter3.JMotion; com.scottpreston.javarobot.chapter3.SpeedDiffDrive;



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28 May 2018 ... An useful C# code snippet to convert PDF files into TXT plain- text or HTML in C# with iTextSharp , an open-source PDF management library for ...

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public class Navigation { // movement constants for raw movement public static final int RAW_FWD = 0; public static final int RAW_REV = 1; public static final int RAW_RGT = 2; public static final int RAW_LFT = 3; // relative readings for 4 coordinate axes public static final int REL_NORTH = 40; public static final int REL_EAST = 100; public static final int REL_SOUTH = 160; public static final int REL_WEST = 255; // surface constants public static final int SURFACE_CEMENT = 1; public static final int SURFACE_CARPET = 2; // default speed public static final int DEFAULT_SPEED = 25;





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As mentioned in 1, you can configure delegates via the delegates.xml file. This file starts with this comment on its usage: <!-Delegate command file. Commands which specify decode="in_format" encode="out_format" specify the rules for converting from in_format to out_format. These rules may be used to translate directly between formats. Commands which specify only decode="in_format" specify the rules for converting from in_format to some format which ImageMagick will automatically recognize. These rules are used to decode formats.

In this chapter, you ll look at the development of the SRS, use cases, and class diagrams. The next chapter covers the sequence, collaboration, and activity diagrams.

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// instance variables public int surface = SURFACE_CEMENT; private JMotion drive; private NavStamp navStamp; public Navigation(JSerialPort serialPort) throws Exception { // drive with default speed drive = new SpeedDiffDrive(serialPort); drive.setSpeed(DEFAULT_SPEED); // stamp for sensors navStamp = new NavStamp(serialPort); } // change heading public void changeHeading(int newHeading) throws Exception { // this will calculate a real angle from a relative measure of // the coord axis. newHeading = getRealAngle(newHeading); int accuracy = 2; // degrees // autoadjust speed depending on the surface if (surface == SURFACE_CEMENT) { // slow so don't overshoot 15 degrees at 1sec intervals drive.setSpeed(12); } else { // moves slower on carpet drive.setSpeed(20); } // used to record lats turn int lastTurn = 0; boolean toggle = false; int turnSize = 1000; while (true) { // get compass int currentHeading = navStamp.getCompass(); // get relative heading from compass to where you want to go int relHeading = currentHeading - newHeading; // adjust for negative if (relHeading < 0) { relHeading = 360 + relHeading; } // if within bounds, stop if (relHeading <= accuracy || relHeading >= 360 - accuracy) { drive.stop(); break; }

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// in case it overshoots direction twice if (toggle) { // reset toggle = false; // reduce turn time by 250ms turnSize = turnSize - 250; } // turn for a second left if (relHeading < 180 && relHeading > 15) { if (lastTurn == 'R') { toggle = true; } drive.pivotLeft(turnSize); // record what turn lastTurn = 'L'; // turn for a second right } else if (relHeading >= 180 && relHeading < 345) { // records toggle if (lastTurn == 'L') { toggle = true; } drive.pivotRight(turnSize); lastTurn = 'R'; } else if (relHeading >= 345) { drive.pivotRight(250); } else if (relHeading <= 15) { drive.pivotLeft(250); } } // set back to default speed drive.setSpeed(DEFAULT_SPEED); } // adjust for angle measured to absolute angle public static int getRealAngle(int theta) { int phi = 0; double ratio = 0.0; // if in 1st quadrant if (theta > 0 && theta < 90) { // 1. get % of the total range // 2. get range // 3. multiply range by percentage, add it to current north reading. phi = (int) ((theta / 90.0) * (REL_EAST - REL_NORTH)) + REL_NORTH; }

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