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// Put the Set class into its own namespace using System; namespace MyTypes { class Set { char[] members; // this array holds the set // An auto-implemented, read-only Length property public int Length { get; private set; } // Construct a null set public Set() { Length = 0; } // Construct an empty set of a given size public Set(int size) { members = new char[size]; // allocate memory for set Length = 0; // no members when constructed } // Construct a set from another set public Set(Set s) { members = new char[sLength]; // allocate memory for set for(int i=0; i < sLength; i++) members[i] = s[i]; Length = sLength; // number of members } // Implement read-only indexer public char this[int idx]{ get {

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The robot crocodile that will be built and programmed in this chapter is controlled remotely by a human operator via a wireless data link The robot and the remote control that will be built are shown in Figure 62 The wireless data is transmitted from the controller and received by the robot using RF modules built by a company called Linx Technologies The robot achieves locomotion using four legs that are driven by a twin-motor gearbox The geared motors operate on voltages between 3 and 6 volts, making them perfect for small walking robots The motors are controlled using the L298 dual full-bridge driver The motor driver takes its control signals from a PIC 16F84 microcontroller The microcontroller will also be used to interpret the control commands sent from the hand held remote control The remote control uses a PIC 16C71 microcontroller featuring four analog to digital converters Two of the analog to digital converters will be used to monitor the position of the control stick on the remote control device This is accomplished by reading the voltages produced by the poten193

if(idx >= 0 & idx < Length) return members[idx]; else return (char)0; } } /* See if an element is in the set Return the index of the element or -1 if not found */ int find(char ch) { int i; for(i=0; i < Length; i++) if(members[i] == ch) return i; return -1; } // Add a unique element to a set public static Set operator +(Set ob, char ch) { // If ch is already in the set, return a copy of the // original set if(obfind(ch) != -1) { // Return a copy of the original set return new Set(ob); } else { // Return a new set that contains the new element // Make the new set one element larger than the original Set newset = new Set(obLength+1); // Copy elements into the new set for(int i=0; i < obLength; i++) newsetmembers[i] = obmembers[i]; // Set the Length property newsetLength = obLength+1; // Add new element to new set newsetmembers[newsetLength-1] = ch; return newset; // return the new set } }

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// Remove an element from the set public static Set operator -(Set ob, char ch) { Set newset = new Set(); int i = obfind(ch); // i will be -1 if element not found // Copy and compress the remaining elements for(int j=0; j < obLength; j++) if(j != i) newset = newset + obmembers[j]; return newset; } // Set union public static Set operator +(Set ob1, Set ob2) { Set newset = new Set(ob1); // copy the first set // Add unique elements from second set for(int i=0; i < ob2Length; i++) newset = newset + ob2[i]; return newset; // return updated set } // Set difference public static Set operator -(Set ob1, Set ob2) { Set newset = new Set(ob1); // copy the first set // Subtract elements from second set for(int i=0; i < ob2Length; i++) newset = newset - ob2[i]; return newset; // return updated set } } } // The end of MyTypes namespace 2 After putting Set into the MyTypes namespace, you will need to include the MyTypes

tiometers attached to the X and Y axis When the position of the control stick is determined, certain control information is transmitted to the robot Because a wireless data link is being used to remotely control the robot, the experimenter is not limited to a certain number of control channels, as are imposed when a regular model airplane remote control system is used The experimenter has the option of adding any number of other devices

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