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Because the input to the PCF8591 is in Mode 3, the Light Seeker program shown in Figure 13-38 can be made remarkably simple. Mode 3 causes the value of channel 0 to be the difference of input 0 and 1, which is the difference of the light from front to back. The bigger the light difference is, the more power will be sent to the motors. If the difference is negative, the direction will be reversed. The difference between the light from left to right is read by channel 1, which is fed to the Steering input of the Move block. No matter where the brightest light is coming from, the robot will always move toward it.

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DayOfWeek = SystemDayOfWeekTuesday then print_endline "Tuesday Playlist: Ruby Tuesday - Rolling Stones" print_endline "Everyday Playlist: Eight Days A Week - Beatles" If you want multiple statements to be part of the if statement, then you would simply give them the same indention, as shown in the next example where both strings will be printed only on a Friday: #light if SystemDateTimeNowDayOfWeek = SystemDayOfWeekFriday then print_endline "Friday Playlist: Friday I'm In Love - The Cure" print_endline "Friday Playlist: View From The Afternoon - Arctic Monkeys" Most programmers are familiar with for loops because they are commonly found in imperative programming languages The idea of a for loop is to declare an identifier, whose scope is the for loop, that increases its value by 1 after each iteration of the loop and provides the condition for loop termination F# follows this syntax.

The Local Variables window allows you to inspect and even modify variable values during script execution. The Local Variables window always displays all the variables within scope whenever a breakpoint is encountered and execution of the script is suspended. The Local Variables window always has two top-level items, Scope and This. Scope refers to all the variables within the nearest current scope of execution. Because most JavaScript is written as a function, the nearest scope is usually function scope. For example, if a breakpoint within a function is encountered, then the Scope item within the Local Variables window will refer to all variables that are within that function s scope namely, any variable defined with the keyword var within that function. Variables defined in the global scope (those defined outside any function body) are technically accessible within functions, but they are not shown within the current variable scope (see Figure 7-22).

It starts with the keyword for followed by the identifier that will hold the counter value; then comes an equals sign, followed by an expression for the initial counter value, then the keyword to, and then an expression for the terminal value The code that forms the body of the for loop comes after this, sandwiched between the keywords do and done The for loop has type unit, so the code that forms the body of the loop should have type unit; otherwise, the compiler will issue a warning The next example demonstrates a common usage of a for loop to enumerate all the values in an array The identifier index will take on values starting at 0 and ending at 1 less than the length of the array You can use this identifier as the index for the array.

In 12, we showed you how to build a RC Servo motor controller that used the power to a NXT motor output to create the control voltage for a TLC555. That voltage determined the pulse width that was used by a RC Servo to establish its shaft angle. The analog output of the PCF8591 can also be used to provide this control voltage. Figure 13-39 is the schematic diagram for the PCF8591 RC Servo controller. The PCF8591 has a slightly lower output voltage range than the NXT motor output. To compensate, we reduced the 47k coupling resistor to 33k . Otherwise, the TLC555 circuit is the same, and the Bill of Materials for it is in Table 13-7.

#light let ryunosukeAkutagawa = [| "Green "; "frog, "; "Is "; "your "; "body "; "also "; "freshly "; "painted " |] for index = 0 to Arraylength ryunosukeAkutagawa - 1 do print_string ryunosukeAkutagawa[index].

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