... | ... | @@ -145,15 +145,17 @@ The *Arbiter* contains a list of *SharedCars* and constantly check, in a priorit |
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This will ensure that the behaviors with the highest priority will drive the actual car, if it have any commands for it.
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### Comparison to Fred Martin
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The *Prioritizing Algorithm* by Fred Martin is written in C and implements the same functionality as the *SharedCar* and *Arbiter* classes. The differences is that in Fred Martins code, forward, backward and stop is controlled by the motor power. That is, forward is a positive value, backward is a negative value and stop is zero. In the *SharedCar* the direction must be set explicitly.
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The *Prioritizing Algorithm* by Fred Martin [2] is written in C and implements the same functionality as the *SharedCar* and *Arbiter* classes. The differences is that in Fred Martins code, forward, backward and stop is controlled by the motor power. That is, forward is a positive value, backward is a negative value and stop is zero. In the *SharedCar* the direction must be set explicitly.
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In Fred Martins code, arrays are preallocated to be able to contain ten processes, whereas in the *Arbiter* an arbitrary number of processes can be added runtime.
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## Conclusion
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## References
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[1] http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson7.dir/Lesson.html
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[2] Fred G. Martin, Robotic Explorations: A Hands-on Introduction to Engineering, Prentice Hall, 2001.
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### Videos
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