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The other piece of communication is nothing you control, and that is the initial request Ideally the request would have all the necessary details, including the fact that they are trying to troubleshoot a production issue Unfortunately that is not always going to be the case As such, you may need to solicit some additional details from the requestor but how are you to know which details are the important ones for you to know right now You don t, so you focus on the things you can control, and respond with the details on the actions you are going to take That way you give the requestor the opportunity to review your actions and the timeline (the timeline is all they really care about, by the way) And if the timeline is not adequate, then they have the opportunity to make that known.

// macros #define RAVINE_DETECTED (SensorUS(USONIC)>35) #define MINE_DETECTED (Sensor(LIGHT)<threshold-8) #define MINE_LOST (Sensor(LIGHT)>threshold-4) // global variables int threshold; bool found; //===================================================================// // ROBOT INITIALIZATION // //===================================================================// sub GrabberZeroPosition() { // bring the grabber to its zero position, // with the arm down and the grabber opened. int t; t = MotorRotationCount(GRABBER); // run the grabber motor OnRev(GRABBER,40); Wait(400); // while it is not stalled while( abs(t-MotorRotationCount(GRABBER))>14 ) { t = MotorRotationCount(GRABBER); Wait(50); } // and stop it Off(GRABBER); Wait(50); Float(GRABBER); } sub MineSweeper_init() { // initialize sensor ports SetSensorLight(LIGHT); SetSensorLowspeed(USONIC); // measure the ground color: // the robot must be started with no mine // under the detector threshold = Sensor(LIGHT); // show the threshold, given by the light color // of the ground, according to which dark mines are detected TextOut(5,LCD_LINE1,"Threshold: "); NumOut(70,LCD_LINE1,threshold); // close the grabber a bit to avoid forcing // the geartrain

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low lighting. In Android 2.2, these visual indications have been moved to the right and combined with the buttons that allow you to change settings. To take a photo, simply click the shutter button at the bottom-right corner of the screen. You ll notice a second or two delay before the picture snaps. While this is often frustrating when trying to get the perfect picture, it also gives the camera a chance to refocus after you ve pressed the button. On the Nexus One, there s no way to adjust focus by pressing on the desired focal point, as there is on the iPhone. You can only choose between letting Android do the focusing with autofocus, and setting the camera to infinity mode. You can use digital zoom on phones that support it by pressing on the screen until the + and buttons appear; or, in Android 2.2, by pressing the zoom slide adjuster at the lower-right corner of the screen, as shown in Figure 9 2.

TIP: Giving people the ability to review your progress helps them share in the responsibility should events turn for the worse I can never stress the importance of communication enough In fact, I often use some example from my former life as a basketball coach to stress how well communication works When my team took the floor, I always reminded them about the necessity of talking to each other while playing defense We could be winning by twenty points and I would still remind them that they needed to be talking more Teams that talk on defense are more engaged and more energized It can be demoralizing to an offense to have to hear about how the defenders know exactly what play is about to be run Just by the simple act of talking you can accomplish so much more than by remaining silent.

RotateMotorExPID(GRABBER,60,180,0,false,false,20,20,50); // and then reset its position GrabberZeroPosition(); TextOut(5,LCD_LINE1," "); } //===================================================================// // SUBROUTINES FOR SPINNING // //===================================================================// sub AvoidRavine() { // avoid the ravine by spinning, // to change the robot heading // to the opposite direction Off(WHEELS); RotateMotorEx(WHEELS,80,550,-100,true,true); OffEx(WHEELS,RESET_ALL); } sub Spin( short dir ) { // this is called during the search phases // to start the robot spinning // the parameter dir indicates the // spinning direction (CW or CCW) OnFwdReg(LEFT_WHEEL, sign(dir)*SEARCH_SPEED, OUT_REGMODE_SPEED); OnFwdReg(RIGHT_WHEEL, -sign(dir)*SEARCH_SPEED, OUT_REGMODE_SPEED); Wait(50); } //===================================================================// // SEARCHING PHASES // //===================================================================// bool SearchPhase ( byte phase ) { // the research is divided into 3 phases: // 1 - the robot scans the ground spinning clockwise // 2 - the robot scans the ground spinning counterclockwise // 3 - the robot spins back to get the initial heading // this function returns true if the mine has been found, // and false otherwise byte detection; bool result; short span; detection = NONE; result = false;

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