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After an edge is detected or the timeout has elapsed, the WaitEdge function returns a value describing which of the two events has occurred. If the edge was found before the timeout, FindMineLength returns the actual left wheel rotation count, otherwise it returns the value saved before the edge detection. Once FindMineLength(TOP) returns, the CenterMine() subroutine calls FindMineLength(BOTTOM), to detect the bottom edge (c). The only difference, with respect to before, is that receiving

Just as with still photos, you can slide out the preferences tray on the left in Android 2.1 and below, or use the buttons on the right for Android 2.2. For the Nexus One, those options include 1. 2. Video quality: Choose high for videos you want to upload to YouTube or edit on your desktop, and choose low for videos you want to send as MMS messages. Video duration: By default this is set to 10 minutes, the maximum length for most YouTube accounts. You can set it to 30 seconds for sending MMS video, and you can set it to 30 minutes. Be careful if you set it to 30 minutes, because that will eat up a lot of space on your phone s storage card. White balance: Just as with still images, this lets you override the automatic light settings. Use this if you notice your video is yellow in incandescent lighting or has other color balance issues. Color effect: Just as with still photos, this lets you apply color filters to your video. Be aware that you can t unapply a filter, but you can use third-party tools to apply filters later if you need them.

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BOTTOM as an argument, FindMineLength() first waits for a transition from white to black WaitEdge(APPROACHING) and then for another transition from black to white WaitEdge (DISMISSING) This is necessary, because the top edge detection implies that the dark mine is not under the sensor anymore: the robot was going forward, and when it stopped after the top edge detection, it surpassed the mine a bit So, when going backwards, the robot must wait for the mine to be detected again in correspondence with the top edge, and then wait for the bottom edge to be detected Once the bottom edge is found, in correspondence with a black-to-white transition, the second measurement of the wheel angle is taken The CenterMine() subroutine subtracts the two measurements, halves the result, and moves the robot forward (d) The mine should be now under the sensor.

Let s say you tell them your estimate, you get the work done, and you provide some details on what you did. There is always a chance that they are going to respond and ask why you did something in a particular way. This may be because they have some knowledge that you do not possess, but it could also be that they are just looking for some knowledge themselves. In either case you do not need to apologize for getting a task done in a certain way. If there is a better way that you were not aware of, then admit as much and thank the person for bringing it to your attention. If there is a reason you chose to perform a specific set of actions, then feel free to explain why (politely, of course) you chose those actions, and again thank them for bringing the alternate method to your attention.

On Android 2.2, you can also use the flash while shooting video. In this case, the flash will stay on during the recording and give your subject a bit of lighting. You may have also noticed that the preview photo in the upper-right corner changes when you switch to video mode. You can use this to review the last video you took. The review mode is similar to that for still pictures, but instead of a Set as button you have a Play button, since videos can t be used as wallpaper or contact icons.

The CenterMine() subroutine returns, and the next subroutine called by main is the one to grab and store the mine The distance from the sensor to the grabber is fixed, determined by the structure of the robot So, the CollectMine() subroutine makes the robot advance by the amount of space needed to bring the mine between the grabber claws; the grabber motor is rotated by a precise number of degrees, and our good ol underactuated mechanism does the rest! The mine should be released correctly into the hold opening, shaped to help the mines to fall down, under the central motor.

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