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There are several other types of limit switches whose inputs and outputs are different than those discussed above, but only those that sense by direct contact or use magnets will be included here Other types are not strictly mechanical and are more complex and beyond the scope of this book In a robot, there are two general categories of things that the robot s microprocessor needs to know about, many of which can be sensed by mechanical limit switches The categories are proprioceptive and environmental Proprioceptive things are part of the robot itself like the position of the various segments of its manipulator, the temperature of its motors or transistors, the current going to its motors, the position of its wheels, etc Environmental things are generally outside the robot like nearby objects, ambient temperature, the slope of the surface the robot is driving on, bumps, or drop-offs, etc.

I prefer to coerce values myself even when it s not essential. Although it adds a bit more code, it also means anyone reading my script can immediately see where coercions are performed. So, for example, I d write that first script as follows: set the_age to 35 set the_text to "I am " & (the_age as string) --> "I am 35" That way, if somebody modifies the code later, they re not likely to break it because they didn t notice an implicit coercion was involved.

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Each stage ends with a gate. The gate is a process of evaluation that will end with approval if all goes well. However, it is not a rubber stamp. The project team, the customer, other stakeholders, and perhaps outside experts should perform a genuine evaluation of the results to date. At a gate, there are three possible outcomes: If the results are good, then we move ahead to the next stage. If there are minor problems, the project team xes them, and we move ahead to the next stage. If there are major questions or doubts, then the project stakeholders, led by the project sponsor, re-evaluate the project. It may need a major overhaul, or it may need to be cancelled.

AppleScript attempts to coerce values automatically during some operations A binary operation has three elements: the left operand, the operator, and the right operand For most types of binary operations to be successful, the left and right operands must belong to the same class, and the operator must be compatible with that class For example, the + operator requires two numbers, and both numbers must be integers or reals Here s how it works: 1 When an operation is encountered, AppleScript determines the value class of the left operand If the left operand is of a legal class, and the operator can work with that operand, then the right operand is checked to see whether it also matches 2 If the left operand isn t compatible with the operator, AppleScript attempts to coerce it.

If it can t, AppleScript will raise a coercion error (error number 1700), which means AppleScript can t coerce a value into the needed value class 3 If the left operand is compatible with the operator or AppleScript manages to coerce it, then the right operand is evaluated and, if needed, coerced to match the left operand Let s look at some script snippets in the script that follows, the left operand is compatible with the operator, but AppleScript will have to coerce the right operand to a real (or integer, if no decimal point) to make it compatible with the left operand: 5 + "123" In the following script, AppleScript will first coerce the left operand into an integer to make it compatible with the + operator It will then coerce the right operand into a real to make it compatible as well: "5" + "12.

This is an over-simplified explanation because in several cases, the two categories overlap in one way or another For instance, when the bumper bumps up against an object, the object is in the environment (environmental sensing) but the bumper s motion and location, relative to the robot, is detected by a limit switch mounted inside the robot s body (proprioceptive sensing) In this book, anything that is detected by motion of the robot s parts is considered proprioceptive, whether the thing being sensed is part of the robot or not..

As we approach a gate, we focus on working with the customer to get through the gate well. We should have the team do little or no work on the next stage until we are through the gate, until the prior stage is approved. Otherwise, we risk violating the 1:10:100 rule; we risk designing or developing the wrong product, or a product with major aws.

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