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17.3.1 CONTROL BY A MICROCONTROLLER One of the easiest and most straightforward ways of using the algorithms developed in this book with other robots is to translate the RobotBASIC programs into the native language of the target robot s microcontroller. We will use the PBASIC language used by Parallax s BS2 controller, but the principles shown here can be applied to any language on any microcontroller. Let s look at a speci c example to make the translation process easy to follow. If you recall, Chap. 7 developed algorithms for following a line. Figure 17.13 shows one of the algorithms from that chapter. In order to follow a line, the code in Fig. 17.13 relies on the two RobotBASIC commands, rForward and rTurn and the function rSense(). The command rForward moves the robot forward a speci ed amount. Likewise, rTurn rotates the robot as requested. The function rSense() returns a number with the lower three binary bits representing the line sensors as discussed in Chap. 7. In order to convert the code in Fig. 17.13 to Parallax s PBASIC, we need three subroutines to duplicate the functionality supplied by RobotBASIC. We will assume we have these subroutines and three variables as described below. We are using PBASIC syntax here to provide a concrete example, but the concepts (and even most of the syntax) apply to many other microcontroller languages. If you are familiar with the language of the

To specify global options that apply to any host you connect to, create a HOST entry with the asterisk as its host, HOST *. This entry must be placed at the end of the configuration file because an option is changed only the first time it is set. Any subsequent entries for an option are ignored. Because a host matches on both its own entry and the global one, its specific entry should come before the global entry. The asterisk, *, and the question mark, , are both wildcard matching operators that enable you to specify a group of hosts with the same suffix or prefix.

Kerberos is a network authentication protocol that provides encrypted authentication to connections between a client and a server. As an authentication protocol, Kerberos requires a client to prove his or her identity using encryption methods before they can access a server. Once authenticated, the client and server can conduct all communications using encryption. Whereas firewalls only protect from outside attacks, Kerberos is designed to also protect from attacks from those inside the network. Users already within a network could try to break in to local servers. Kerberos places protection around the servers themselves, rather than an entire network or computer. A free version is available from the Massachusetts Institute of

Specific Risk Charge*

//============================================================= //--- Subroutine MapOffice //--- Inputs : none //--- Outputs : MapGraph[], Nodes[], NodesCount //--- Calls To: FindNode //--//--- The Nodes[]array is a data base with name of the //--- node and the x,y coordinates of it. //------------------------------------------------------------MapOffice: //Rooms Data OF;"BreakRoom" , 35, 99, "Office1" ,345, 83 Data OF;"Office2" ,641, 44, "Office3" ,685,346 Data OF;"Office4" , 45,351, "Office5" ,660,500 Data OF;"HallWay1" ,343,570, "HallWay2", 82,570 //Doors Data OF;"BreakRoom_D", 35, 139, "Office1_D",305, 141 Data OF;"Office2_D" ,585, 142, "Office3_D",757, 240 Data OF;"Office4_D" , 45, 468, "Office5_D",597, 455 //Corridors Data OF;"Corridor1" , 35, 186, "Corridor2" ,305, 186 Data OF;"Corridor3" ,420, 186, "Corridor4" ,585, 186 Data OF;"Corridor5" ,757, 186, "Corridor6" ,420, 515 Data OF;"Corridor7" , 45, 515, "Corridor8" ,420, 455 Data OF;"Corridor9" ,558, 455, "Corridor10",420, 316 Data OF;"Corridor11",155, 515 //Charging Station Data OF;"ChargeRoom_D",558, 508, "ChargeRoom",558,554 NodesCount = MaxDim(OF,1)/3 Dim Nodes[NodesCount,3] MCopy OF,Nodes Data Edges;"BreakRoom","BreakRoom_D","Corridor1","Corridor2" Data Edges;"Office1_D","Office1",-1 Data Edges;"Office2","Office2_D","Corridor4","Corridor5" Data Edges;"Office3_D","Office3",-1 Data Edges;"Corridor3","Corridor10","Corridor8","Corridor6" Data Edges;"HallWay1","Corridor11","Corridor7",-1 Data Edges;"Office4","Office4_D","Corridor7","HallWay2",-1 Data Edges;"Office5","Office5_D","Corridor9","ChargeRoom_D" Data Edges;"ChargeRoom",-1 Data Edges;"Corridor2","Corridor3","Corridor4",-1 Data Edges;"HallWay2","Corridor11","Corridor6","Corridor9" Data Edges;"Corridor8",-1 Dim MapGraph[NodesCount,NodesCount] MConstant MapGraph,0 NName = Edges[0] gosub FindNode FNode = NodeNumber for MO_I = 1 to MaxDim(Edges,1)-2 if IsNumber(Edges[MO_I]) NName = Edges[MO_I+1] gosub FindNode FNode = NodeNumber MO_I = MO_I+2 endif NName = Edges[MO_I] gosub FindNode TNode = NodeNumber if FNode >= 0 and TNode >= 0

Technology at webmitedu/kerberos under the MIT Public License, which is similar to the GNU Public License The name Kerberos comes from Greek mythology and is the name of the three-headed watchdog for Hades The key to Kerberos is a Kerberos server through which all requests for any server services are channeled The Kerberos server then authenticates a client, identifying the client and validating the client's right to use a particular server The server maintains a database of authorized users Kerberos then issues the client an encrypted ticket that the client can use to gain access to the server For example, if a user needs to check his or her mail, a request for use of the mail server is sent to the Kerberos server, which then authenticates the user and issues a ticket that is then used to access the mail server.