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Figure A-2. Calculating distance traveled using rotations If you take one of the NXT 2.0 wheels and measure it, you ll find that the diameter of the wheel is approximately 1.75 inches (4.445 centimeters). (NXT 2.0 wheels are approximately 2.25 inches or 5.715cm.) Figure A-2 tells us to find the circumference by multiplying the wheel diameter by 3.14 (also known as pi; pi is a much longer number, but for our calculations, 3.14 is a safe enough approximation). If we ve done our math correctly, we obtain a wheel circumference value of 5.495 inches (or 13.9573 centimeters). Next, Figure A-2 tells us that we can calculate the total distance moved by multiplying the wheel circumference by the number of rotations. Once again, if we ve done our calculations correctly, multiplying 5.495 inches by three rotations gives us 16.485 inches (41.8719 centimeters). And that s it! You can now convert back and forth between rotations and degrees as well as calculate the distances your motors will spin (and that your robots will travel). There s one more small calculation I ll leave you with, but it will involve a quick visit to the Internet. Would you like to know how to calculate the number of rotations or degrees required to turn your robots left or right If you want your robot to turn in place without moving forward or backward, how do you calculate the proper number of rotations or degrees to spin one of the motors so that the robot turns left or right For the answer (and an example), point your web browser to the following URL: http://thenxtstep.blogspot.com/2006/10/reader-question-submission-2.html

UDP s limitations, however, are also its strengths UDP is a good choice for two types of traffic: short request/response transactions that fit in one packet (like Domain Name System [DNS]) and streams of data that are better off skipping lost data and moving on (like streaming audio and video) In the first case, UDP is better, because a short request/response usually doesn t merit the overhead that TCP requires in order to guarantee reliability The application is usually better off adding additional logic to retransmit on its own in the event of lost packets In the case of streaming data, developers actually don t want TCP s reliability They would prefer that lost packets are simply skipped on the (reasonable) assumption that most packets will arrive in the desired order This is because human listeners/viewers are much better at handling (and much less annoyed by!) short drops in audio than they are in delays

16:

try { p = rexec("notepad"); } catch (Exception e) { Systemoutprintln("Error executing notepad"); } } }

Layers 5 7 (HTTP, SSL, XML)

There are several alternative forms of exec( ), but the one shown in the example is the most common The Process object returned by exec( ) can be manipulated by Process methods after the new program starts running You can kill the subprocess with the destroy( ) method The waitFor( ) method causes your program to wait until the subprocess finishes The exitValue( ) method returns the value returned by the subprocess when it is finished This is typically 0 if no problems occur Here is the preceding exec( ) example modified to wait for the running process to exit:

// Wait until notepad is terminated class ExecDemoFini { public static void main(String args[]) { Runtime r = RuntimegetRuntime(); Process p = null; try { p = rexec("notepad"); pwaitFor(); } catch (Exception e) { Systemoutprintln("Error executing notepad"); } Systemoutprintln("Notepad returned " + pexitValue()); } }