barcode rendering framework c# example NEED INPUT! BUILDING A REMOTE CONTROL DEVICE in Font

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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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Listing 9-9. Avoiding Machine-Gun Effects When Using Joysticks to Trigger Discrete Commands R_action = DecodeDir(R_cmd); if ( (R_action!=oldRf) || continuous ) { if (R_action>0) { //do something } if (R_action<0) { //do something else } } oldRf = R_action; First, the DecodeDir function calculates the direction of the joystick displacement (the right one in the example), by returning just 1, 0, or -1 and not a speed level. Then, the action corresponding to the joystick inclination is performed only if the actual R_action is different from the one saved before in the oldRf variable, and updated with the current R_action value only after the desired action has been performed. This way, no action will be retriggered until the joystick has returned to its center position, so that the DecodeDir function will return a value different from before. Notice that, if the continuous variable is true, the logical OR || function will force the whole condition ((R_action!=oldRf) || continuous) to be true, and some action will be performed anyway, no matter if R_action is equal to oldRf or not. For example, if the right joystick is moved forward, the DecodeDir function will return 1, thus triggering the action inside the if(R_action>0) {...} block. This block becomes unreachable if the (R_action!=R_old) condition is false, until the joystick does not return to its center (DecodeDir thus returns 0). This trick is necessary because the Mode1Actions function is called about 20 times per second notice that the loop calls Wait(50) and not only when the joysticks are moved. That said, you should now know how to bend the receiver program s template to your will.
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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Building the Remote Control
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Now let s get building! The construction is simple, because it just uses a bunch of parts from the NXT retail set. You need two NXT retail sets to build the robot and the R/C. To build the remote shown here, you need an extra Touch Sensor and an extra 20cm (8 inch) cable. You can replace the extra short cable with a longer spare one you have in the set.
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Figure 9-3. The Bluetooth remote bill of materials
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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Table 9-1. The Bluetooth Remote Bill of Materials
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Quantity
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2 1 1 2 1 2 2 2 1 2 2 8 2 16 2 4 2 2 2
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Color
Black White White
Part Number
32184.DAT 32525.DAT 41239.DAT 53787.DAT 53788.DAT
Part Name
TECHNIC Axle Joiner Perpendicular 3L TECHNIC Beam 11 TECHNIC Beam 13 Electric MINDSTORMS NXT Motor Electric MINDSTORMS NXT TECHNIC Axle Joiner Perpendicular Double Split Electric MINDSTORMS NXT Touch Sensor TECHNIC Beam 7 TECHNIC Axle 10 Electric Cable NXT 20cm Electric Cable NXT 35cm TECHNIC Axle Pin with Friction TECHNIC Axle 2 Notched TECHNIC Pin with Friction and Slots TECHNIC Connector with Axlehole TECHNIC Pin Long with Friction and Slot TECHNIC Axle Joiner Perpendicular 1 3 3 with 4 Pins TECHNIC Beam 5 Liftarm Bent 90 (4:2) TECHNIC Beam 7 Bent 90 (5:3)
Dark gray Dark gray White Black
41678.DAT 53793.DAT 32524.DAT 3737.DAT 55804.DAT 55805.DAT
Blue Black Black Black Black Light gray Dark gray Dark gray
43093.DAT 32062.DAT 2780.DAT 32039.DAT 6558.DAT 48989.DAT 32140.DAT 32526.DAT
56 parts total (all included in NXT retail set, except for one Touch Sensor and one 20cm cable)
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Rotate the NXT upside down and attach the black joiners to the blue axle pins. Rotate the NXT and add two black pins.
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Start building the left joystick control. You must insert two pins in the holes in the back of the motor. Then attach two black pins, a blue axle pin, and the lever to the motor shaft.
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Add a Touch Sensor and the blocking beam subassembly.
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Connect the left control to the NXT.
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Start building the right joystick control. You must insert two pins in the holes in the back of the motor. Then attach two black pins, a blue axle pin, and the lever to the motor shaft.
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Add another Touch Sensor and the blocking beam subassembly.
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Connect the right control to the NXT. Attach an 11 holes-long beam to hold the controls together with the NXT. Notice that here the cross-bracing technique is used.
CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
Rotate the whole model, insert a 13-long beam into the perpendicular joiners, and attach it by inserting two 2-long axles.
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