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You were required to use the NS_...RETURN macros if you wanted to return from the block of code between NS_DURING and NS_HANDLER. If your Objective-C compiler has modern exception handling enabled which it probably does the preprocessor macros in Table 14-3 will expand into the modern syntax instead. Thus, there s no penalty or incompatibility with code written for legacy exceptions, and you can freely mix the two. The one minor difference is that the -raise method performs a @throw, but the modern @throw directive does not send a -raise message to the object being thrown. This could have implications for subclasses that have overridden -raise.

Anytime someone has a problem with their Robosapien, my first troubleshooting step is always to Tip suggest that they try new batteries. Let me repeat. Try new batteries not another set that happens to be rolling around in a drawer somewhere.

Assertions is a programming technique that lets you define your own runtime exceptions. An assertion is a statement that confirms (asserts) that a condition the programmer expects to be true is true. If the statement is found to be false, an NSInternalInconsistencyException exception is thrown. The assertion in Listing 14-7 ensures that the class of the object obtained from the collection is of the expected type.

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NSDictionary *dictionary = NSNumber *value = [dictionary objectForKey:@"Value"]; NSAssert([value isKindOfClass:[NSNumber class]],@"wrong class"); Failed Assertion Output: *** Assertion failure in -[Tosser catcher], Tosser.m:45 *** Terminating app due to uncaught exception 'NSInternalInconsistencyException', reason: 'wrong class' Assertions are a practical way of introducing some of Java s sanity to Objective-C. Objective-C does not test the class of an object during assignment, but an assertion can. Objective-C doesn t test the index in C array statements to ensure they are within bounds, but an assertion can. In short, almost any runtime check that you would expect Java to perform for you can be stated as an assertion. Assertions can be stated for any expected program condition. If a parameter is assumed to be non-nil, assert it. If an integer value should be positive, assert it.

Robosapien is designed with something called regenerative controllers, which is a fancy way of saying it contains circuitry that will store and reuse electrical energy as the robot goes about its movements. Robosapien is also designed so that the weight of the four D cell batteries in the feet provide it with a low center of gravity, and this is integral to its walking ability. Given these two factors, it is worth mentioning the advantages and disadvantages of using different types of batteries in Robosapien.

Configure the MOVE block inside it at a slower power setting 40. Figure 8-11 shows the final LOOP block configured.

Caution Assertions are exceptions, like any other. Most Java runtime exceptions are unchecked, and are

usually left uncaught. If you want your application to terminate when an exception is encountered, be careful not to swallow the exception in your catch block. See the RethrowAssertion macro in the Listing 14-8.

Caution Under no circumstances should you mix old and new batteries, or rechargeable batteries with

One particularly attractive feature of assertions is they can be turned off, en masse. The assertion macros provided by the Cocoa framework, listed in Table 14-4, are all conditionally defined based on the NS_BLOCK_ASSERTIONS preprocessor macro. If that macro is defined the value is immaterial all of the NSAssert macros get redefined to nothing. This means your assertion statements effectively disappear, as if they never existed. You can fill your application with thousands of assertion statements that are active during development, then turn them all off when compiling your release version. This is usually accomplished by defining the NS_BLOCK_ASSERTIONS macro in the Preprocessor Macros build settings of the Release configuration. During development, your application checks for any unexpected conditions, but the release version is free of the excess code and performance penalty of each assertion. Table 14-4. Standard Assertion Macros

Figure 8-11. The motors run at a slower speed until the Sound Sensor is triggered. When this LOOP block is broken, you need to stop the StringBot s movement and give it time to stop swinging. What you ll do is throw in a MOVE block that will stop the motors (see Figure 8-12).

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