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Robosapien s transition from a hand-built, purely analog BEAM robot into a digital toy capable of being mass-produced and marketed was a process that took almost two and a half years. When I had the opportunity to interview Mark Tilden, I was extremely surprised to learn how much blood, sweat, and tears went into getting Robosapien ready for the world. I hope that you ve found this photo journal of the process and the various prototypes as interesting as I do!

class or a subclass. However, declaring the return value as a class pointer type (i.e., -(BaseClass*)init) makes it difficult for subclasses. The subclass must call [super init] and assign it to self. If [super init] returns a BaseClass* type value, the subclass can t assign it to self without a cast.

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The third step is to check for nil. The superclass init method will return nil if, for any reason, it can t create the requested object. For example, nil is returned if the process runs out of free memory and a new object can t be allocated. A class can decide not to construct an object and return nil for any reason. Program defensively; always assume an initializer could return nil. If the returned object is valid, your initializer should then perform whatever initialization your object requires. Finally, the initializer must return itself, or nil, if the initialization failed, to the caller. Study the -(id)init method in Listing 3-17. Memorize it. Every object initializer you will ever write should look just like it. You will undoubtedly encounter subtle variations many programmers combine the first two statements into if ((self=[super init])!=nil) but every well-written init method satisfies the four-part contract for initializers.

Figure 4-1. Hey! Let me out of here!

Java has special syntax for explicit constructor invocation, whereby a constructor can invoke a specific superclass constructor with parameters (super(param)) or an alternate constructor (this(param)). Naturally, Objective-C doesn t have any special syntax for this, but the principle is the same. The class RepeatableSequence, shown in Listing 3-18, is a subclass of RandomSequence, shown in Listing 3-17. The init methods for RepeatableSequence build on the init methods in its superclass as well as the other methods in RepeatableSequence.

instances, just look around on the COMMON and COMPLETE palettes and you ll find the necessary blocks. If it helps, you can hover the mouse over a block for a few seconds a small hint block will appear telling you the name of the block.

Java public class RepeatableSequence extends RandomSequence { private long restartSeed; public RepeatableSequence() { this(1); } public RepeatableSequence( long startingSeed ) { super(startingSeed); restartSeed = seed; } void restartSequence( ) { seed = restartSeed; } } Objective-C #import "RandomSequence.h" @interface RepeatableSequence : RandomSequence { long long restartSeed; } - (id)init; - (id)initWithSeed:(long long)startingSeed; - (void)restartSequence; @end @implementation RepeatableSequence - (id)init { self = [self initWithSeed:1]; return (self); }

ow that we ve covered some of the theory behind Robosapien, let s roll up our sleeves and get busy with the robot itself! In this chapter, we ll look at Robosapien s packaging and battery usage, and we ll power it up and make sure it operates correctly. We ll also go over the first two Robosapien secrets when we cover its diagnostic modes.

- (id)initWithSeed:(long long)startingSeed { self = [super initWithSeed:startingSeed]; if (self!=nil) { restartSeed = seed; } return (self); } - (void)restartSequence { seed = restartSeed; } @end The -(id)initWithSeed: method invokes its superclass s -(id)initWithSeed: method, passing the initialization parameter to the superclass. After the superclass initialization is finished, it completes its initialization. The -(id)init method hands off initialization to the -(id)initWithSeed: method. Note that the message initWithSeed: is sent to itself, not to its superclass.

When subclassing a class, read the documentation (or comments) about that class. Some Objective-C classes have one or more designated initializers. An init method for a subclass should only initialize the superclass using one of its designated initializers. The documentation for many classes includes an explicit Subclassing Notes section that contains important information and caveats for subclass authors.

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