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The schematic for the read-switch-high circuit is shown in Fig. 6.22. The switch is connected to the I/O pin labeled RB4. The LED is connected to RB0 through a 470-ohm current-limiting resistor.

Regardless of what we want the robot to do when the road curves, it has to be able to determine when the road curves..

Trust models are used to describe the relationship between end users, relying parties, and the CA. Various models can be found in today s PKIs. The following describes the two most widely used and well known: certificate hierarchies and cross-certification models.

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The microcontroller can also read logic levels from other microcontrollers, circuits, or ICs. As an example, look at Fig. 6.23. In this schematic the microcontroller is set to read the output of an comparator. Since the output of an LM339 comparator is equivalent to an open collector of an NPN transistor, it is usually brought high by using an external pull-up resistor. The comparator is read by the microcontroller using the same programs that detect a logic low.

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//-----Constants TableColor = White F_RandomTurn = 3 F_RandomTurn_Percent = 10 LineAvoidA = 20 LA_RandomTurn = 30 TurnAroundA = 60 //==================================================== MainProgram: goSub SetTable rlocate 100,100,90 rInvisible Gray //---no cheating goSub TableRoam End //==================================================== //-- Roam On Table for ever TableRoam: while true goSub TestSensors S = Sensors if not S if not(rBumper() & 4) //---only forward if no obstacles rForward 1 if random(10000) < 10000%F_RandomTurn_Percent //--add a bit of turning for better coverage rTurn random(F_RandomTurn) endif else gosub Reverse //--avoid obstacle endif elseif ((S & 24) AND not(S & 3)) //-- only left sensors and not right sensors //-- don't care about front sensor rTurn LineAvoidA+random(LA_RandomTurn) elseif ((S & 3) AND not(S & 24)) //-- only right sensors and not left sensors //-- don't care about front sensor rTurn -(LineAvoidA+random(LA_RandomTurn)) else //---catch all other conditions rTurn 180-TurnAroundA/2+random(TurnAroundA) endif wend Return //===================================================== //-- Creates 5 ground sensors TestSensors: Sensors = 0 for i = 0 to 4 if rGroundA(90-i*45) <> TableColor Sensors = Sensors | (2^i) endif next Return //===================================================== //-- Makes a random reverse and turn Reverse:

It should be noted, however, that each of these can be used not only alone but in conjunction with one another as well.

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The PIC microcontroller is able to read resistive sensors that vary in resistance from 5K to 50K ohms directly. The types of resistive sensors one can connect to the microcontroller are numerous, for instance, photoresistors [cadmium sulfide (CdS) cells], thermistors (PTC and NTC types), toxic gas sensors, bend sensors, and humidity sensors. The microcontroller reads the resistance by timing the discharge of a capacitor through the resistive device (see Fig. 6.24). The command to read a resistive sensor is

As a PKI population begins to increase, it becomes difficult for a CA to effectively track the identities of all the parties it has certified. As the number of certificates grows, a single authority may become a bottleneck in the certification process. One solution is to use a certificate hierarchy, in which the CA delegates its authority to one or more subsidiary authorities. These authorities, in turn, designate their own subsidiaries, and the process travels down the hierarchy until an authority actually issues a certificate. Figure 6-5 illustrates the concept of certificate hierarchies.

for i = 1 to (random(10)+10) //--reverse so long no object on the //--back and only max 20 pixels if rBumper() & 1 then break rForward -1 next //--turn min 45 degrees max 90 //-- in a random direction if random(1000) >= 500 rTurn 90-random(45) else rTurn -90+random(45) endif Return //==================================================== //--Sets the table environment SetTable: rectangle 0,0,800,600,gray,gray rectangle 50,50,650,550,TableColor,TableColor circle 200,200,250,250,black,black circle 400,400,450,450,blue,blue rectangle 250,400,300,480,magenta,magenta rectangle 450,300,480,410,cyan,cyan Return

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