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The loop tests to see if the sensor in the direction of the turn ever touches the line If it does then there is a possibility of the robot s front ending up outside the line In this case the robot is made to turn 180 (turn around) and the loop is abandoned In Lines 33 to 36 the stalling situation discussed at the end of the previous section is handled This situation does not cause the robot s front to turn outside the line and the actual turning is carried out on Line 34 On Line 35 a Continue statement is used to make the program ow go back to the top of the while-loop and avoid going into Lines 37 to 43, which are only needed in the other situations.

Reason Code This extension specifies the reason for certificate revocation. Valid entries include the following: unspecified, key compromise, CA compromise, superseded, certificate hold, and others. (For valid reasons, RFC2459 recommends the use of this field.) Hold Instruction Code This noncritical extension supports the temporary suspension of a certificate. It contains an OID that describes the action to be taken if the extension exists. Certificate Issuers This extension identifies the name of the certificate issuer associated with an indirect CRL (discussed later in the section titled Indirect CRLs ). If this extension is present, RFC2459 mandates that it be marked critical.

In the next section we will see what we can do to avoid the robot s body protruding outside the line as much as it does in this section..

1 4 1 4

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In the previous section we developed an acceptable algorithm that was adequate for the situation it was designed to tackle However, the algorithm did allow a portion of the robot s body to brie y move outside the con nement area This would be unacceptable if the area was a table for instance, or a landing on the second oor The robot would just topple over the moment its center of gravity went over the table Even if its center of gravity remained on the table, if one of its wheels goes beyond the edge of the table it would cease creating traction while the other wheel would continue doing so, which would turn the robot toward the ledge eventually causing it to fall over the edge.

Invalidity Date This noncritical extension contains a date/time value showing when a suspected or known compromise of the private key occurred.

The schematic for the read-switch-low circuit is shown in Fig. 6.21. The switch is connected to an I/O pin labeled RB4. The LED is connected to RB0 through a 470-ohm current-limiting resistor.

In the table top situation it would not be acceptable for the robot to have more than a very small fraction of its body protrude over the edge of the table (never any of its wheels) In this section we will explore how to achieve this Obstacle avoidance will also be added to the behavior so the robot can avoid obstacles at the same time that it is avoiding the edge of the table or landing To detect an edge in a real life situation there are many sensors that can detect a change in light intensity or color variation, which indicates that there is a change in the surface that is being sensed This can tell us that the oor is dropping Such sensors require a constant color and re ectivity surface.

The following CRL extensions have been defined on a per-CRL basis:

Another method is to have a sonar or infrared sensor that can measure the distance to the oor An increase in the distance indicates that the oor is dropping away The problem with this method is that many of the available sensors do not measure small distances accurately, which is necessary for this application This simulation will make use of specialized ground sensors RobotBASIC has downward-facing color sensors accessed with the function rGroundA() that returns the.

These programs and schematic are the complement to the previous examples. Look back to Fig. 6.20, example B. The switch labeled B keeps the I/O pin at a logic low level. When the switch is closed, the I/O pin is brought to a logic high level.

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