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In this chapter, you learned about, built, and programmed a jerky COG shifting biped. It s not just any biped, but the famous AT-ST the walking armored craft seen in the Star Wars films. The model is quite a sculpture in itself; it s elegant, and proportioned to resemble the real AT-ST as closely as possible. The software, at first view, isn t bursting with originality, but it hides a lot of interesting tricks; the servomotors automagic built-in limit switch technique is one of them. Another useful idea is the use of state variables to keep track of the position of a robot s moving parts without always having to read the sensors. In the next chapter, you ll see how to build a smooth COG shifting biped.

/** * This class handles the graphics objects. * * @author Carol Hamer */ public class DungeonManager extends LayerManager { //--------------------------------------------------------// dimension fields // (constant after initialization) /** * The X coordinate of the place on the game canvas where * the LayerManager window should appear, in terms of the * coordinates of the game canvas. */ static int CANVAS_X; /** * The Y coordinate of the place on the game canvas where * the LayerManager window should appear, in terms of the * coordinates of the game canvas. */ static int CANVAS_Y; /** * The width of the display window. */ static int DISP_WIDTH; /** * The height of this object's visible region. */ static int DISP_HEIGHT; /** * the (right or left) distance the player * goes in a single keystroke. */ static final int MOVE_LENGTH = 8; /** * The width of the square tiles that this game is divided into. * This is the width of the stone walls as well as the princess and * the ghost. */ static final int SQUARE_WIDTH = 24;

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The data layer can be broken into three sublayers in most applications. They are the data storage layer, the data access layer, and the service agent, as shown in Figure 1-1. The data storage layer provides the mechanism for storing and managing your application data, and the data access layer provides the logic needed to retrieve and manipulate data. The service agent is like the data access layer, but instead of accessing a data storage layer, the service will access another domain process such as a web service or COM+ component via DCOM. Together these three logical layers provide the mechanisms for gathering and manipulating data.

LEGO veteran users tend to be purists and quite conservative. They might consider it a sacrilege to use non-LEGO parts in your robot building. If you are willing to use rubber bands, you should use original LEGO rubber bands, although it is not the most elegant solution. However, the best solution is to keep the whole leg frame short and rigid by using crossbracing. The weaker parts of the leg are usually the moving joints, at the ankle and hip level.

Typically, the data storage layer consists of a relational database server such as Microsoft SQL Server 2005 or Oracle. This layer can be shared between multiple applications, but there should be some logical or physical separation within the database server. One example would be having a database for each application that the database server is supporting.

/** * The jump index that indicates that no jump is * currently in progress. */ static final int NO_JUMP = -6; /** * The maximum speed for the player's fall. */ static final int MAX_FREE_FALL = 3; //--------------------------------------------------------// game object fields /** * the handle back to the canvas. */ private DungeonCanvas myCanvas; /** * the background dungeon. */ private TiledLayer myBackground; /** * the player. */ private Sprite myPrincess; /** * the goal. */ private Sprite myCrown; /** * the doors. */ private DoorKey[] myDoors; /** * the keys. */ private DoorKey[] myKeys; /** * the key currently held by the player. */ private DoorKey myHeldKey;

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