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while ( event==0 ) { if (ButtonPressed(BTNCENTER,true)==1) { event = TOUCH; while(ButtonPressed(BTNCENTER,true)==1); TextOut(5,LCD_LINE6,"Button"); break; } else if (CurrentTick() > time_offset + TIMEOUT) { event = TIMER_ELAPSE; TextOut(5,LCD_LINE6,"Elapse"); break; } } return event; } The WaitEvent() function waits for two kinds of events: for the timer to elapse and for someone to click the orange button. It polls continuously whether the orange button has been clicked or if the timer has run out; when one of these events has occurred (the event variable is assigned a value other than 0), the function returns a different number (the constants TOUCH or TIMER_ELAPSE) according to the event that occurred. Before going forward, as a curiosity, look at Listing 3-3, which draws the bar on the NXT screen. Listing 3-3. The Code to Draw a Bar of Filled Squares on the NXT Display sub Meter(short level) { ClearScreen(); for(short i=0; i<level; i++) //draw filled rectangles { //RectOut(MARGIN+OFFSET*i,LCD_LINE4,LENGTH,LENGTH,false); for (short j=0; j<=LENGTH; j++) { LineOut(MARGIN+OFFSET*i+j,LCD_LINE4,MARGIN+OFFSET*i+j,LCD_LINE4+LENGTH); } } } The NXC language provides us with many high-level graphic functions to exploit all the NXT screen capabilities. For example, we can use the RectOut function inside a for loop to draw the number of empty squares specified by level, or we can use the LineOut function inside a nested for loop to get a square filled with black pixels. You can obtain filled squares by drawing as many lines as the length of the square. On the other hand, by removing the comment on the RectOut function line and commenting out the nested for loop, you can draw empty squares, thus speeding up the NXT screen redrawing.

Now that you have seen a particular FSM implementation, you might wonder how to program any FSM you like. I ll explain that after the skeleton code in Listing 3-4. Listing 3-4. General Structure to Implement an FSM task main() { //Initialization of hardware and state variables //main exits, leaving space in scheduler for other tasks } //sensor monitoring tasks task SensorMonitor() { Follows(main); //tells the NXT to execute this task after the main has exited while(true) { //read sensors //modify global variables to make state transitions } } task FSM() { Follows(main); //tells the NXT to execute this task after the main has exited while(true) { switch ( state ) { case STATE_ONE: //actions to be performed in this state //the state transition is made //assigning a new value to the state variable state = ANOTHER_STATE; break; case STATE_TWO: [...] break; case STATE_THREE: [...]

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You can create labels many ways. If you click the Labels button at the top of your inbox and then click Manage labels from the drop-down menu, you enter the label settings area. You can enter new labels by typing into the box labeled Create a new label. You can also get to this menu by clicking the Settings link at the upper right of the screen and then clicking Labels. Another method is to click the More link at the bottom of your label list on the left side of the screen. It might have a number in front of it if you have a lot of labels already (e.g., 10 more ). You re limited to 40 characters for label names, but it would be wise to keep them even shorter. Long labels mean less space for your message previews.

Even if that is the case, you still need to be taking regular database backups Do not let anyone try to convince you that SAN replication eliminates the need for regular database backups About the only thing sillier would be if they said that RAID 5 eliminated the need for a database backup It is not true, and it will only take one disaster (which will be your last disaster, by the way) for everyone to understand why the database backups were necessary Furthermore, tools like SAN replication and RAID should still only be one part of your high availability strategy..

break; //put how many states you want } } } In the code in Listing 3-4, the main task simply performs sensor and variable initialization, and then exits, leaving the execution to all the other tasks. You could use separate tasks to monitor the sensors continuously, to refresh the NXT display, and to run the FSM itself. In a more general situation than the one in the saturating counter example, a program that implements an FSM can be composed of more tasks running simultaneously.

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