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Microchip technology has developed a line of reduced instruction set computer (RISC) microprocessors called the programmable interface controller (PIC) The PIC uses what is known as Harvard architecture Harvard uses two memories and separate busses The first memory is used to store the program, and the other is to store data The advantage of this design is that instructions can be fetched by the CPU at the same time that RAM is being accessed This greatly speeds up execution time The architecture commonly used for most computers today is known as Von Neumann architecture This design uses the same memory for control and RAM storage, and slows down processing time We will be using the PIC 16F84, shown in Figure 31, as the processor for the robots in the book This device can be reprogrammed over and over because it uses flash read-only memory for program storage This makes it ideal for experimenting because the chip does not need to be erased with an ultraviolet light source every time you need to tweak the code or try something new The PIC 16F84 is an 18-pin device with an 8-bit data bus and registers We will be using a 4-MHz crystal for the clock speed This is very fast for our application when you consider that it is run-

var webAddrs = from addr in websites where addrLastIndexOf("") != -1 group addr by addrSubstring(addrLastIndexOf(""));

Substituting gives 1 2 1 2 A1t1 + vT t2 + VQt3 + A3t3 = 4 2 2 Again substituting, 1 2 1 2 A1t1 + A1t1t2 + A1t1t3 - A1t3 = 4 2 3 1 1 2 2 A1 ( 00222) + A1 ( 00222)( 00167) + A1 ( 00222)( 00333) - A1 ( 00333) = 4 2 3 Thus A1 = 4050 in sec 2 A3 = -2700 in sec 2 The velocity at the points of intersection from Fig 33 is vT = vQ = A1t1 = ( 4050)( 00222) = 90 ips The displacements for each part are y1 1 2 1 2 A1t1 = ( 4050)( 00222) = 1 in 2 2 y2 A1t1t2 = ( 4050)( 00222)( 00167) = 15 in y3 = 15 in

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The key is obtained by use of the LastIndexOf( ) and Substring( ) methods defined by string (These are described in 5 The version of Substring( ) used here returns the substring that starts at the specified index and runs to the end of the invoking string) The index of the last period in a website name is found using LastIndexOf( ) Using this index, the Substring( ) method obtains the remainder of the string, which is the part of the website name that contains the top-level domain name One other point: Notice the use of the where clause to filter out any strings that don t contain a period The LastIndex( ) method returns 1 if the specified string is not contained in the invoking string Because the sequence obtained when webAddrs is executed is a list of groups, you will need to use two foreach loops to access the members of each group The outer loop obtains each group The inner loop enumerates the members within the group The iteration variable of the outer foreach loop must be an IGrouping instance compatible with the key and element type In the example, both the keys and elements are string Therefore, the type of sites iteration variable of the outer loop is IGrouping<string, string> The type of the iteration variable of the inner loop is string For brevity, the example implicitly declares these variables, but they could have been explicitly declared as shown here:

ning machine code at 4 million cycles per second The PIC 16F84 is equipped with two input/output (I/O) ports, port A and port B Each port has two registers associated with it The first register is the TRIS (Tri State) register The value loaded into this register determines if the individual pins of the port are treated as inputs or outputs The other register is the address of the port itself Once the ports have been configured using the TRIS register, data can then be written or read to the port using the port register address Port B has eight I/O lines available and Port A has five I/O lines For example, the first robot project in the book details the construction and programming of a robotic frog This project will use the same main controller circuit board as the hexapod robot featured in the book Insectronics so that readers who have built the Insectronic robot will be able to jump right into this project The frog will be using all eight I/O lines of Port B and all five lines of Port A, as shown in Figure 32

The trapezoidal acceleration curve is a combination of the cubic and parabolic curves It modi es the parabolic curve by changing its acceleration from a rectangular to a trapezoidal shape It is an early composite that was rst recognized by Neklutin (1969) He showed that the trapezoidal acceleration curve is an improvement over the parabolic curve and that it offers good dynamic response under high-speed operation It is a slight improvement over the cycloidal curve with its lower maximum acceleration In trapezoidal curve motion, the fraction of the total rise angle used for the initial cubic segment is known as the b value for the motion In Fig 34 we see a trapezoidal acceleration curve (DRD cam) where b = 1/8 This choice of b = 1/8 yields satisfactory camfollower performance

foreach(IGrouping<string, string> sites in webAddrs) { ConsoleWriteLine("Websites grouped by " + sitesKey); foreach(string site in sites) ConsoleWriteLine(" " + site); ConsoleWriteLine(); }

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