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The term variable comes from the notion that the data is not constant and has to be stored somewhere for later use. Even if you knew what the data value was at some time, it may have changed since the last time it was checked; variable data isn t static. To be able to store and find data in a changeable place is a keystone to programming. Memory in a computer can be thought of as a series of mailboxes, like the ones shown in Fig. 13-2. Each variable is given a name or a label to allow a program to access it. When data is accessed, this name is used by the computer to retrieve or change the value stored in it. Using the variable names in the mailboxes of Fig. 13-2, an arithmetic assignment statement can be created:

Fig. 12-10.

i = 7

In this statement, the variable i will store the value 7; this is an example of storing a constant value in a variable. Variables can be read and their value can be stored in another variable like

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mechanism must be able to rotate the drive wheel in either direction as much as is needed. This requires an electrical slip ring in the steering joint. Slip rings, also called rotary joints, are manufactured in both standard sizes or custom layouts. One type of mechanical solution to the problem of powering the wheel in a drive/steer module has been done with great success on several sophisticated research robots and is commonly called a syncrodrive. A syncro-drive (Figure 6-7) normally uses three or four wheels. All are driven and steered in unison, synchronously. This allows fully holonomic steering (the ability to head in any direction without first requiring moving forward). As can be seen in the sketch, the drive motor is directly above the wheel. An axle goes down through the center of the steering shaft and is coupled to the wheel through a right angle gearbox. This layout is probably the best to use if relying heavily on dead reckoning because it produces little rotational error. Although the dominant dead-reckoning error is usually produced by things in the environment, this system theoretically has the least internal error. The four-wheeled layout is not well suited for anything but flat terrain unless at least one wheel module is made vertically compliant. This is possible, but would produce the complicated mechanism shown in Figure 6-8.

cialty shops in your unrelenting quest your thirst for all kinds and sizes of motors, batteries, gears, wires, switches, and other odds and ends. Like Dr. Frankenstein, you galvanize life from these dead parts. If you have not yet built your first robot, you re in for a wonderful experience. Watching your creation scoot around the floor or table can be exhilarating. Those around you may not immediately share your excitement, but you know that you ve built something however humble with your own hands and ingenuity. And yet if you have built a robot, you also know of the heartache and frustration inherent in the process. You know that not every design works and that even a simple engineering flaw can cost weeks of work, not to mention ruined parts. This book will help you beginner and experienced robot maker alike get the most out of your robotics hobby.

N-P junction (depletion region).

One of the best ways to experiment with and learn about hobby robots is to construct individual robot components, then combine the completed modules to make a finished, fully functional machine. For maximum flexibility, these modules should be interchangeable whenever possible. You should be able to choose locomotion system A to work with appendage system B, and operate the mixture with control system C or any variation thereof. As you start trying to create your own robots, using a building-blocks approach allows you to make relatively simple and straightforward changes and updates. When designed and constructed properly, the different building blocks, as shown in diagram form in Fig. 1-1, may be shared among a variety of robots. Most of the building-block designs presented in the following chapters are complete, working subsystems. Some operate without ever being attached to a robot or control computer. The way you interface the modules is up to you and will require some forethought and attention on your part (this book does not provide all the answers!). Feel free to experiment with each subsystem, altering it and improving upon it as you see fit. When it works the way you want, incorporate it into your robot, or save it for a future project.

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