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Once the connections to your sensors and microcontrollers are made, use the sensors listed in the following bullets to give your robot some understanding of its environment. Dinsmore 1490 Compass: Four I/O; 45-degree accuracy compass. Devantech CMPS03 Compass: Single I/O; 2-degree accuracy compass. PNI Corporation Vector 2x Compass: Four I/O; 2-degree accuracy compass. Lynxmotion Single Line Detector: Good for line following or reading encoders. Bump Switches: Emergency stop sensors. Sharp GP2D15 infrared proximity sensors: Good for short-range proximity detection. Sharp GP2D02 distance infrared sensor: Short-range infrared distance sensor. Devantech SRF04 sonar: Good medium-range sonar. Polaroid 6500 Ranging Module and Instrument Grade Transducer: Long-range highpower sonar. The three Stamp programs created were compass.bs2: Showed how to connect to the three compasses. switch.bs2: Showed how to get readings from one or more logical switches. distance.bs2: Showed how to get distance readings from three types of distance sensors. The four Java classes created were CompassStamp.java: This class is designed to work with the compass.bs2 program. Compass.java: This class showed how you could model a specific sensor rather than create a CompassStamp for accessing it. SwitchStamp.java: This class is designed to work with the switch.bs2 program. DistanceStamp.java: This class is designed to work with the distance.bs2 program. Now that I have discussed the basics of how to get your robot to move and gather basic sensor data it's time to work exclusively with the PC. In the next chapter I will talk about text to speech and voice recognition, but of which are done best with a PC.

There are a number of reasons to build GCC from source. One of the most important is that GCC s feature set (and, as a result, the pool of possible bugs) continues to grow with each new release. If you want to take advantage of new features you have two choices: wait for a precompiled binary to become available for your CPU and operating system, or build it yourself. Another important reason to build GCC yourself is that doing so enables you to customize it for your system. For example, the default configuration of precompiled GCC binaries usually includes all supported languages. If you don t need the Ada or Java front ends, for example, you can prevent them from being built, tested, and installed by passing the appropriate options to the configure script. Similarly, you can modify installation paths, munge the names of the installed binaries, or create a cross-compiler by invoking GCC s configure script using the relevant incantations.

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Caution You should be aware of the fact that db4o is not concerned about multiple object references. All

Naturally, if you want to participate in GCC development, you will need to build GCC from source. The flow of patches that fix bugs, add new features, and extend or enhance existing features is steady, too. If a particular bug bites you or if a specific enhancement appeals to you, you will only be able to take advantage of the patch if you know how to apply it and rebuild the compiler. While I m on the subject, allow me to point out that the act of building (and optionally testing) GCC releases, snapshots, or the latest CVS source tree constitutes participation in GCC development. How so Simply put, without binaries to execute, you might as well use your computer for a doorstop or a bookend. In order to create binaries, you need a compiler, preferably one that is stable and efficient. GCC needs to be tested on as many different systems as possible in order to maximize its stability and efficiency and to be as bug-free as possible. If GCC builds and tests successfully on your system, that is one more data point in GCC s favor. If your particular combination of hardware and software reveals a previously unknown problem, this is better still, because either you or the developers, or you and the developers together, can identify and fix the problem. Finally, and although some might find this peculiar, you might find successfully building a very complicated piece of software on your system to be satisfying or even entertaining. I do. Go figure.

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