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By pressing either the Tilt Body Left or Tilt Body Right button repeatedly you can glitch Robosapien and cause the robot to lock in a sideways leaning position. While still pressing one of the tilt keys repeatedly, you can weave in other arm commands (you ll need to use both hands on the remote) such as shoulder up and down and arm in and out. Using this method you can get Robosapien to pick up items that are in places other than the sweet spot near the robot s heel. Figure 10-13. Here we are glitching Robosapien into a constant sideways tilt.

Figure 4-19. Two LOOP blocks placed and configured Next, place three MOVE blocks: one for moving the bot, one for stopping the motors, and one for turning the bot. The first MOVE block is configured with Unlimited duration for motors

-[[NSIndexSet alloc] initWithIndexSet:]

Collections created from other collections usually make shallow copies of the original collection, by simply copying the object pointers. This is highly optimized and is usually very fast. It is quite common to create a mutable collection to assemble a set of objects, and then return an immutable copy, as shown in Listing 16-1. This is comparable to creating a java.lang.StringBuilder object, building the string, then returning an immutable String via StringBuilder.toString().

Summary

- (NSArray*)guestList { // Assemble array of guests NSMutableArray *scratchArray = [NSMutableArray new];

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B and C. The second MOVE block is configured to stop motors B and C, and the third MOVE block is configured to turn only motor C at a power level of 25 and a duration of 360 degrees (see Figure 4-20).

for ( ) { [scratchArray addObject: ]; } // Return immutable array of guests return [NSArray arrayWithArray:scratchArray]; } A few constructors make deep copies. These have a copyItems parameter. When dictionaries are duplicated, the key objects are always copied. Since the mutable subclasses inherit all of the methods of their superclass, the mutable collection classes can use any of the class methods in Table 16-2 to pre-populate a new, mutable collection. You typically do this when you have an immutable collection that you need to make changes to, as shown in Listing 16-2.

The online Robosapien community is very vibrant, and it is a good place to start looking for ideas if you would like to get the most out of your Robosapien. Have a great idea for a programming routine Post it online and see if other people have any tips or tricks that can make your idea even better. Although a lot of these are based on the conditional reflex programming we looked at in 9, the collaborative nature of Internet forums really goes a long way toward fleshing out some pretty neat ideas.

- (void)hardwareNotification:(NSNotification*)notification { NSDictionary *hwInfo = [notification userInfo]; // details of hardware problem NSMutableDictionary *adminInfo = nil; // If the hardware alert is serious enough to notify the administrators, // post a new notification with the hardware failure and a time stamp. int alertLevel = [[hwInfo objectForKey:@"Level"] intValue]; if (alertLevel>=notifyAlertLevel) { // Make a mutable copy of the hardware failure info dictionary adminInfo = [NSMutableDictionary dictionaryWithDictionary:hwInfo]; // Add a time stamp to the hardware info dictionary [adminInfo setObject:[NSDate date] forKey:@"Date"]; [[NSNotificationCenter defaultCenter] postNotificationName:@"AdminAlert" object:[notification object] userInfo:adminInfo]; } } Objective-C has recently acquired some new collection classes: NSPointerArray, NSMapTable, and NSHashTable. These classes are inherently mutable and are more like the Java collection classes in that respect. They all have the ability to be programmed with a particular personality, such as maintaining weak references to objects, allowing memory blocks or primitive integers to be used as values, or permitting nil object pointers to be stored. The differences between these new classes and the old ones are detailed in the sections that discuss them.

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