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You may have noticed that there is a bit of backlash or gear slack in the NXT servo motor, more so if you ve added gearing to your robot s drive train. This is normal and to be expected. Even though we re working with some very impressive robot tools, they are still LEGO robots and have certain limitations when it comes to keeping things tight and precisely lined up. If the gears are too tight, they will bind when turning, but if they are too loose, you end up with a lot of slack in the gears and slipping. However, even when we find the happy medium between the two, there is still going to be some expected play in the gears that will allow our axles and wheels to turn some before the gears mesh up. This gear slack can be an issue for going straight at times when one drive wheel has more slack in the gears than the other side. Obviously, this disparity can cause the robot make a slight turn when it first starts out. Or our odometry results can be affected if the slack is too great. One trick I ve learned from teams over the years is to get your robot a very slight push when sitting in base, just roll the robot forward a small bit forcing the wheels to turn the NXT Servo and mesh up the gears. It s easy to forget to do this during a stressful competition, but if you practice it as part of your regular routine, it will quickly become second nature to do it when ever your running your robot.

if we invoke those methods on iceCream, this will refer to iceCream and populate the members of iceCream. Therefore, as Figure 6 12 displays, iceCream will contain heavyCream, halfHalf, sugar, yolks, vanilla, and coffee members, which we can display by calling _print(): if (Object.defineProperties === undefined) { Object.defineProperties = function (obj, descriptors) { for (descriptor in descriptors) { if (descriptors.hasOwnProperty(descriptor)) { obj[descriptor] = descriptors[descriptor].value; } } }; } if (Object.create === undefined) { Object.create = function (parent, descriptors) { var Proxy = function () {}, child; Proxy.prototype = parent; child = new Proxy(); if (descriptors !== undefined) { Object.defineProperties(child, descriptors); } return child; }; } var churn = {}; churn._french = function (heavyCream, halfHalf, sugar, yolks) { this.heavyCream = [1, "cup", heavyCream || "Organic Valley"], this.halfHalf = [1, "cup", halfHalf || "Organic Valley"], this.sugar = [sugar || 5/8, "cup"], this.yolks = [yolks || 6] }; churn._vanilla = function (vanilla) { this.vanilla = [1, "bean", vanilla || "Madagascar Bourbon"]; }; churn._coffee = function (coffee) { this.coffee = [1/4, "cup, coarsely ground", coffee || "Starbucks Espresso"]; }; churn._print = function () { var copy = {}; for (var m in this) { this.hasOwnProperty(m) && (copy[m] = this[m]); } console.dir(copy); }; var iceCream = Object.create(churn); iceCream._french(); iceCream._vanilla(); iceCream._coffee(); iceCream._print();

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Table 2-1. Column-Attribute Properties Property AutoGen Description Identifies a column whose value is generated by the database. Usually we will use this property in conjunction with primary key columns defined with the IDENTITY property. Specifies the column s data type in the database. If you omit this property, LINQ will infer the type from the class member. This property is mandatory only if you want to use the CreateDatabase method to create a new database instance.

Figure 6 12. this refers to the containing object for functions invoked as methods. That all worked fine, but there is a more elegant way to achieve what we just did, by chaining method calls together. iceCream._french()._vanilla()._coffee()._print(); Let s see how to enable this technique. Right now, our methods return undefined, but to chain a method to another one, we have to return this instead. As Figure 6 13 displays, doing so works just as well as, but more elegantly than, invoking the methods separately. Note that chaining methods is also referred to as cascades. Note too that chaining is very common in DOM and JavaScript libraries. var clone = typeof Object.create === "function" Object.create : function (donor) { var Proxy = function () {}; Proxy.prototype = donor;

Description Specifies that a column is part of a table s primary (or unique) key. LINQ currently works only with tables that have primary (or unique) keys. Indicates that the member holds the discriminator value for an inheritance hierarchy. Indicates the member is a database timestamp or version number. Specifies the column s name in the database. Defaults to the member name. Specifies the name of the private field underlying a property. LINQ will bypass the property s get and set accessors and use the field instead. Specifies how LINQ detects optimistic concurrency conflicts. The possible values are Always, Never, and WhenChanged. If no member is marked with IsVersion=True, all members participate in detection unless explicitly specified otherwise.

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