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A lot of this chapter is going to depend on which phone you use. Not only are there differences in physical hardware, but different versions of Android have different camera capabilities, and phone manufacturers are free to offer additional software. Android 1.5 offered very rudimentary camera functions and few options, but Android 2.2 offers more choices. To take a picture, either press the physical camera button on your phone or launch the Camera app from the app tray or your Home screen. Other software may also allow you to use your phone s camera, some of which I ll discuss later. Figure 9 1 shows the Camera app on a Nexus One running Android 2.1.

Now, which scenario looks better to you, and why For me, I like scenario two, because it demonstrates how some extra communication can improve the service you provide to your customers The piece of communication that is entirely in your control is your initial response to the person making the request I like to provide them an estimate as to how long it will take for you to complete your work You do not need to be exact, but you do need to give a rough idea Will it take 30 minutes An hour Two hours A day This way the requestor has an idea as to what point they should send a follow up e-mail should the task not be completed; plus they can then in turn communicate the progress to their customer as well.

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The ground scanning is divided into three steps. First, the robot spins in place clockwise, until a ravine or a mine is detected, or a limited span has been covered (phase 1); then, the robot spins counterclockwise to reach the symmetric position, under the same conditions as earlier (phase 2); finally, it spins back to its original heading (phase 3) and advances a bit. The waiting for the three events that can stop the spinning (ravine detection, mine detection, and angle limit) is represented inside the subloop inserted between the search phase N blocks, whose detailed structure is shown in Figure 7-6, inside the gray rectangle. If a ravine is detected when the Ultrasonic Sensor measures a big distance, the searching is suspended, the robot spins to change its heading, and then the searching is resumed. If a mine is detected, the search loop is interrupted, the mine size is measured to find its center of mass, and then it is collected. After the mine is stored inside the robot s hold, the searching loop restarts from the beginning (phase 1). Now you are ready to be introduced to the NXC program that implements the working just described. The program is divided into many subsections, labeled by commented headings; the various parts will be discussed separately. The program for the Mine Sweeper is in Listing 7-1. Listing 7-1. The Complete Mine Sweeper Program // NXT ports aliases #define LIGHT #define USONIC #define WHEELS #define GRABBER #define LEFT_WHEEL #define RIGHT_WHEEL #define #define #define #define #define IN_1 IN_4 OUT_AC OUT_B OUT_A OUT_C

In this case, the phone is held on its side for a horizontally framed photo, but you can take photos vertically, too. Unlike with some apps, the position of the buttons on the screen will not change as you rotate the phone orientation. On the right side of the screen, you ll see a small preview of the last photo you took, a slider to slide from video to still-photography mode, and a shutter button to take the photo. On the left, you ll see visual indications about your camera settings. In Figure 9 1, the photo is set to allow geotagging, and the flash is set to be automatically triggered in

// detection events definitions #define NONE 0 #define MINE_EV 1 #define RAVINE_EV 2 #define TIMEOUT_EV 3 #define EDGE_EV 4 // mine #define #define #define #define #define #define centering algorithm definitions TOP 1 BOTTOM -1 RIGHT 1 LEFT -1 APPROACHING 1 DISMISSING 0

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