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In Part 2 we develop a toolbox of utility programs. The programs impart the robot with a collection of behaviors that enable it to handle speci c tasks. Each chapter focuses on a single behavior, evolving algorithms that can work in a variety of situations of increasing complexity. In Part 3 we will utilize combinations of these behaviors to create solutions to real-world problems. We build on the programming skills developed in Part 1 by utilizing new commands and functions from the language as well as show how to use arrays to manipulate data more ef ciently. Additional robot commands and functions are introduced along with more sophisticated interrogation and manipulation of the standard sensors on the robot. We also utilize customizable sensors to handle more demanding situations and show how to use advanced features of the standard sensors. Upon completing Part 2 you will be able to: Create complicated programs and employ advanced programming techniques. Utilize all the sensors on the robot and analyze their data more intricately. Utilize arrays and array commands and functions along with looping constructs to manipulate large amounts of data. Improve on the behaviors introduced in this part as well as create new ones of your own. Appreciate the advantages of using RobotBASIC as a research and development tool so as to minimize abortive efforts in a real-world project.

4 5"

Daniel, I sold 6 presses to Satomi. Ship immediately. SHA-1 digest: 66 05 40 8c 24 6e 05 f8 00 20 f4 72 14 08 bc 22 53 b2 eb d2

n Chap. 5 we made the robot move around the screen freely while avoiding objects in the environment. A robot is a device that can be made to do useful work. To be able to achieve its assigned tasks the robot will usually need to move to speci c locations where it will perform the required work. There are various ways we can move the robot around:

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of the transducers. Turn on the receiver and transmitter circuits and adjust R5 on the receiver circuit so that the subminiature LED just lights. To test the circuit, remove the solid object from the front of the transducers; the LED should turn off. Fine-tune the circuit by placing the solid object 5 to 6 in front of the transducers and readjust R5 until the LED just lights. Note that the receiver is angle sensitive. If the object is held at an acute angle, the ultrasonic sound is reflected away from the receiver. The angles become less critical as the object gets closer to the transducers. The circuit easily detects solid objects up to 8 away from the transducers. Greater distances can be detected, but as mentioned earlier they become angle sensitive. I have the transducers set perpendicularly. You may angle the transducers slightly to obtain different ranging effects. The circuit provides a transistor-transistor logic (TTL) high signal that is indicated by the lit LED whenever the circuit detects an obstacle 6 away. The TTL signal may be read directly by a neural net or microcontroller.

If Satomi substitutes this digest, Daniel will still know something is wrong because that s not the value he s going to get. He s not digesting the message; rather, he s digesting the key and the message. So what should Satomi use

Move along a prescribed path de ned by a line Freely move along a path that the robot determines for itself Move to a speci c destination while keeping within a speci ed limited boundary

We ve described a message digest as the foundation of a pseudo-random number generator or password-based encryption, and now as a representative of a larger message. Another use for a message digest is to check data integrity, which is the term used to describe what the HMAC does. If you re concerned that the information may be altered, you send the data along with a check. If the message was altered, the check will also be different. Of course, you must ensure that the check value cannot be altered to match any changes in the message. If the check value shows no alterations, the data has been shown to have integrity. Integrity is a word for honest, sound, and steadfast. When used in relationship to data, it may seem pretentious, but it does describe data that you can count on, at least in terms of its authenticity.

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