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You don t have to buy the LEGO actuator element to have an actuator on your robot. Building your own out of LEGO elements included in your LEGO MINDSTORMS kit is possible. Plus, if you need to create a motion that is linear and fast, building your own actuator is the way to go. With just a simple combination of a LEGO spur gear and a set of LEGO gear racks, you can put together a very handy actuator. The concept just requires having the gear racks on your actuator and having the spur gear attached to the motor drive the rack gears either forward or backward. The forward motion will push the actuator out, and reversing the motion will pull it back in. Figure 9 14 shows a custom-made actuator.

Dim reader As XmlReader = XmlReader.Create("..\..\People.xml")

<= instanceof in == != === !== && || : = *= /= %= += -= ,

10 10 10 9 9 9 9 5 4 3 2 2 2 2 2 2 1

Then the XDocument s Load method loads the XmlReader object, building the LINQ to XML document structure:

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Figure 9 14. In this custom LEGO acutator, the turning gear will push out the beam with the rack gears. The speed and length of your actuator is solely based on the size gears you use and how long you make the actuator. If you need to make a quick actuator, one that almost punches the target, using a larger gear to drive the actuator would be a good idea. You will need to be careful to not overextend your actuator, or else you may end up launching the entire attachment onto the game field. If you re worried about overextending, build a stop on your actuator that will prevent it from extending beyond its reach. Then, replace the spur gear with a torque gear so that the motor will not continue to force the actuator once it s reached its stopping point. Figure 9 15 shows a custom actuator with a stop and a torque gear used to drive it.

Note JavaScript has a group of operators called bitwise operators. Bitwise operators are generally very fast in other programming languages, but they are very slow in JavaScript. So, no one does bit manipulation with JavaScript. Nor will we, so I won t cover them in this book.

Dim xml As XDocument = XDocument.Load(reader)

Open firebug.html in Firefox, and then press F12 to enable Firebug. If you re just joining us, flip back to the preface for details on how to do this. In 1, we explored the + (addition), - (subtraction), * (multiplication), and / (division) operators, noting that + adds numbers but glues strings. Moreover, we explored how to save a value to a variable with the = (assignment) operator. In the event that the left operand to +, -, *, or / is a variable, member, element, or parameter, you may replace the = operator and +, -, *, or / operator with a +=, -=, *=, or /= shortcut operator. Those do the math and assignment operations in one fell swoop. In Firebug, let s create the following dough object so that we have some values to explore +=, -=, *=, and /= with. var dough = { pastryFlour: [1 + 3/4, "cup"], almondFlour: [1/3, "cup"], saigonCinnamon: [1, "tsp"], mincedLemonZest: [2, "tsp"], seaSalt: [1/4, "tsp"], soda: [1, "tsp"], tartar: [1, "tsp"], pourableVanillaYogurt: [1, "cup"], egg: [1], wildBlueberries: [1 + 1/4, "cup"] }; Say I want to triple the recipe. To do so, we could pass each element and 3 to the *= operator like so in Firebug. Then query the new values of a couple of elements, verifying your work with Figure 3 1: var dough = { pastryFlour: [1 + 3/4, "cup"], almondFlour: [1/3, "cup"], saigonCinnamon: [1, "tsp"], mincedLemonZest: [2, "tsp"], seaSalt: [1/4, "tsp"], soda: [1, "tsp"], tartar: [1, "tsp"], pourableVanillaYogurt: [1, "cup"], egg: [1], wildBlueberries: [1 + 1/4, "cup"] }; dough.pastryFlour[0] *= 3; dough.almondFlour[0] *= 3; dough.saigonCinnamon[0] *= 3; dough.mincedLemonZest[0] *= 3; dough.seaSalt[0] *= 3; dough.soda[0] *= 3; dough.tartar[0] *= 3;

Figure 9 15. A custom LEGO acutator using a torque gear and a stop on the end of the beam to prevent the beam from overextending

Similarly, the static Create method creates an XmlWriter object based on a StringWriter object:

dough.pourableVanillaYogurt[0] *= 3; dough.egg[0] *= 3; dough.wildBlueberries[0] *= 3; dough.pastryFlour[0]; // 5.25 dough.pourableVanillaYogurt[0]; // 3

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