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Don t forget to take any gear ratios into account when calculating the proper rotation If you are not driving your wheel directly from the NXT servo but have some gearing in place, that will change the equation some In that case, the rotation will be calculated as rotation equals distance divided by the circumference times the ratio So for example, if you have a wheel with a circumference of 3 inches that is being driven by a servo hooked to a gear setup with a 3:1 ratio, your formula would be rotation = 12 / (3 1/3), giving you a rotation of 12 to travel 12 inches, one inch per rotation What if the gear ratio is flipped to a 1:3 ratio.

<Extension> _ Public Shared Function Cast(Of T)(ByVal source As IEnumerable) As IEnumerable(Of T)

want to create a function for those statements. Then define parameters for the differences. The constructor and helper functions in 5 such as CherryGarcia() and extend() are good examples of this. You already know when to create a function. Therefore, in this chapter, we ll explore two vital features of JavaScript functions that make them distinctive. First, functions are values that may be expressed with literal notation. In geeky terms, this means JavaScript has first-class functions. Second, JavaScript has function scope, which makes functions vital for variable lookup. Open firebug.html in Firefox, and then press F12 to enable Firebug if you re just joining us, flip back to the preface for details on how to do this and let s begin exploring functions as values.

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The operator enumerates the elements of the source sequence and casts its elements to the T type. Those new elements are collected into a new IEnumerable(Of T) type that will be returned. Listing 1-51 casts Object type to Double type. The output will be 1.0, 2.0, 3.0.

Proper wheel support and the reduction of friction on the wheel s axles are important to helping a robot track straight. If one drive wheel is receiving more or less friction that the other, the robot s ability to drive straight is going to be greatly diminished. The typical robot is going to weigh between one and two pounds, which might not seem like a lot. However, your robot s motors are going to have to carry this weight all around the game field, so we need to make the job as easy as possible for the motors. The biggest issue for your robot s motors to overcome is friction. In 2, which covered robot design, we talked about ways to mount your wheels to the robot, the most common being a cantilever. In this case, the wheel is mounted to one side of the axle with the axle being supported by a LEGO beam and then a bushing is added on the back of the wheel to prevent the axle and wheel from falling off the robot chassis. When being supported in this manner, the axle acts as a level and applies pressure to the LEGO beam, thus creating friction on the axle as it turns. The LEGO beam where the axle is supported becomes the fulcrum for the lever, so placement of the wheel on the axle will affect the force applied against the LEGO beam. For example, if the wheel is located far away from the LEGO beam on the axle, this will increase the amount of force being generated by the level, thus increasing the amount of friction on the movement of the axle, as shown in Figure 3 2.

First-class functions may be expressed with literals. Typically, those are unnamed or anonymous. You invoke a function through the variable, member, or element you saved it to. For example, in 5, we saved an unnamed function expression to a variable named WildMaineBlueberry and invoked the anonymous function by way of the variable s name, WildMaineBlueberry: var WildMaineBlueberry = function (blueberries, vanilla) { this.blueberries = [2, "cup", blueberries blueberries : "fresh wild Maine blueberries"]; this.vanilla = [1, "bean", vanilla vanilla : "Madagascar Bourbon"]; }; WildMaineBlueberry.prototype = { heavyCream: [1, "cup", "Organic Valley"], halfHalf: [1, "cup", "Organic Valley"], sugar: [5/8, "cup"], yolks: [6], freshLemonJuice: [2, "tsp"] }; var wildMaineBlueberry = new WildMaineBlueberry(); console.dir(wildMaineBlueberry); Named function values can be created with a function declaration. In turn, you can invoke the function by its name. So, rather than save a function expression to a variable named WildMaineBlueberry, we could create a function named WildMaineBlueberry like so: function WildMaineBlueberry (blueberries, vanilla) { this.blueberries = [2, "cup", blueberries blueberries : "fresh wild Maine blueberries"]; this.vanilla = [1, "bean", vanilla vanilla : "Madagascar Bourbon"]; } WildMaineBlueberry.prototype = { heavyCream: [1, "cup", "Organic Valley"], halfHalf: [1, "cup", "Organic Valley"], sugar: [5/8, "cup"], yolks: [6], freshLemonJuice: [2, "tsp"] }; var wildMaineBlueberry = new WildMaineBlueberry(); console.dir(wildMaineBlueberry);

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