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short command, Rcmd, Lcmd; byte triggers; // wait for these tasks to end Follows(main,RightJoystickLimit,LeftJoystickLimit); // rotate the motors by 110 degrees to bring the joystick vertical RotateMotorPID(JOYSTICKS,70,110,70,40,70); // store the current position (central) into the Xzero variable Rzero = MotorRotationCount(R_JOYSTICK); Lzero = MotorRotationCount(L_JOYSTICK); while(true) { // read the joysticks' angle from the central position Rpos = MotorRotationCount(R_JOYSTICK) - Rzero; Lpos = MotorRotationCount(L_JOYSTICK) - Lzero; // actuate the feedback on joysticks // to bring them to the center again OnRev(R_JOYSTICK,sign(Rpos)*TORQUE); OnRev(L_JOYSTICK,sign(Lpos)*TORQUE); // if the angle is about 0, then float the motors if (-THR0 <= Rpos && Rpos <= THR0) Float(R_JOYSTICK); if (-THR0 <= Lpos && Lpos <= THR0) Float(L_JOYSTICK); // convert the joysticks' angle to speed commands Lcmd = AngleToCommand(Lpos); Rcmd = AngleToCommand(Rpos); // read the triggers' state triggers = GetTriggers(); // show various information onscreen ShowCommands(Lcmd, Rcmd, triggers); // send the command using Bluetooth SendCommand(Lcmd,Rcmd,triggers); Wait(50); } } At the top of the listing, you can find the constant definitions and the statement to include the Bluetooth Autoconnection Library.

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/** * request the game to pause. This method is called * by the application management software, not in * response to a user pausing the game. */ public void pauseApp() { try { if(myCanvas != null) { setGoCommand(); systemPauseThreads(); } } catch(Exception e) { errorMsg(e); } } //---------------------------------------------------------------// implementation of CommandListener /* * Respond to a command issued on the Canvas. * (either reset or exit). */ public void commandAction(Command c, Displayable s) { try { if(c == myGoCommand) { myCanvas.removeCommand(myGoCommand); myCanvas.addCommand(myPauseCommand); myCanvas.flushKeys(); userStartThreads(); } else if(c == myPauseCommand) { myCanvas.removeCommand(myPauseCommand); myCanvas.addCommand(myGoCommand); userPauseThreads(); } else if(c == myNewCommand) { myCanvas.removeCommand(myNewCommand); myCanvas.addCommand(myPauseCommand); System.gc(); myCanvas.reset(); myCanvas.flushKeys(); myHiddenPause = false; myGamePause = false; startThreads(); } else if(c == myMusicCommand) { if(myMusicMaker != null) { myMusicMaker.toggle(); myCanvas.repaint();

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Including the file autoconnectnxc, you can connect the remote to the robot automatically At program startup, the first code to be executed is the one inside the main task After the usual sensor initialization, the BTConnection function is called This function, in turn, checks if the connection with the slave exists; if not, it calls the Autoconnection Library s ConnectNXT function If the connection cannot be made, because the slave is off or its radio is off, the BTConnection function returns false; this condition causes the main task to call the Stop(true) NXC function to stop the whole program If the connection is established successfully, main calls the RemoteStartProgram NXC function to start the slave NXT program This way, once you have turned on your remote (master) and your robot (slave), you just have to start this program to get the connection and the program to start automatically.

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myCanvas.serviceRepaints(); } } else if((c == myExitCommand) || (c == Alert.DISMISS_COMMAND)) { try { destroyApp(false); notifyDestroyed(); } catch (MIDletStateChangeException ex) { } } } catch(Exception e) { errorMsg(e); } } //------------------------------------------------------// thread methods /** * start up all the game's threads. * Creates them if necessary. * to be called when the user hits the go command. */ private synchronized void userStartThreads() throws Exception { myGamePause = false; if(! myHiddenPause) { startThreads(); } } /** * start up all the game's threads. * Creates them if necessary. * used by showNotify */ synchronized void systemStartThreads() throws Exception { myHiddenPause = false; if(! myGamePause) { startThreads(); } } /** * start up all the game's threads. * Creates them if necessary. * internal version. * note: if this were synchronized, would it cause deadlock */

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record type might not be a parent as I defined that term near the beginning of this chapter, because it might not actually have any children For example, a given offering might have no students enrolled in it at this time Just as a given node in the type tree corresponds to many nodes in each of many occurrence trees (in general), so a given edge in the type tree corresponds to many edges in each of many occurrence trees (again in general) In fact, an edge in the type tree can be thought of as representing a one-to-many relationship (where many includes the zero case) Another difference between these IMS-style heterogeneous trees and the homogeneous trees discussed in earlier sections is that those homogeneous trees were of potentially unlimited depth For example, a given part might explode to any number of levels.

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