1. 11 iRobot ® Introduction part 2

2. 2 drive (velocity, radius, distance, angle) turn (angle) wait for bump, wait for button,... other sensors: right side wall, virtual wall, cliff, … define and play songs (notes, length) display LEDs (on/off) 2

3. 3 int main(void) { start(); turn(90); straight(1000); waitForButton(); turn(360); straight(1000); } 3

4. 44 int main(void) { start(); turn(90); straight(1000); waitForButton(); turn(360); straight(1000); }

5. 55 int main(void) { start(); turn(90); int reason = straight(1000); waitForButton(); if (reason == Bumped) turn(180); else turn(360); straight(1000); }

6. 6 Low-level interface: How the command module talks to the body. You won't need this one (but you may see it). "Legacy" High-level interface: see robotAPI.c This is what the lab manual uses, and what you may find on google. "New" High-level interface: see iRobot.h An alternative to the legacy code. (Renamed functions, added comments, etc.) 6

7. 77 Lab 4

8. 88 Group Project Dance Pair with another group * Marissa Mayer (VP, Google) comments on legacy code. (It's common and essential.) It's good for you guys!

9. 9 Data output LEDs or sound? 9 4281±4281±4281± Debugging? -96