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The classes that make up the update management subsystem are the core components and work as follows:

ApplicationUpdateManager: A singleton class that is responsible for calling to the ManifestManager class to determine which updates are needed, if any. (The ManifestManager class is responsible for getting the manifest from the server and deserializing it.) The ApplicationUpdateManager class is the one primarily used by an application. UpdaterTask: Contains the state of an update. This way, if an update is stopped mid-cycle, it can be picked up where it left off. RegistryManager: Basically, behaves like a traffic cop. It manages the execution of the updates and ensures only one update at a time is executing.

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Wait(100); // if position does not change more than specified angle in specified time while( abs(t-MotorRotationCount(LEGS))>10 ) { t = MotorRotationCount(LEGS); Wait(100); } Off(LEGS); RotateMotor(LEGS,50,-120); Wait(200); legsState = CENTER; } The legs have no evident sensor to let the NXT know which direction they are oriented in. Don t forget, we aren t working with mere motors. The NXT motors contain optical encoders to measure the shaft s relative angle. Thus, all the sensors we need are already inside the motors. The motor s actual angle is saved into the variable t and the motor is started to orient the legs to the left. How can you know if the legs have reached their limit position Here, I adopted a trick to measure the motor shaft s speed: after the motor has started, the NXT continuously checks if the motor shaft is rotating to a minimum number of degrees (10) in a certain period of time (100ms). The small angle and the time interval were chosen appropriately for the application. What I said in words can be translated into this code: while( abs(t-MotorRotationCount(LEGS))>10 ) { t = MotorRotationCount(LEGS); //update starting angle Wait(100); //wait 100ms } While the angle of the shaft varies more than 10 degrees in the time interval of 100ms, the program doesn t stop the motor. However, if the motor cannot accomplish this angle in this little bit of time, it means that the legs are stopped by something and the motor is stalling, so it is turned off. The shaft speed is measured every 100ms as the difference between the angle stored in the variable t and the angle measured time by time with the MotorRotationCount() function.

// if the tumbleweed goes outside of the display // region, set it to invisible since it is // no longer in use. if((getRefPixelX() + WIDTH <= currentLeftBound) || (getRefPixelX() - WIDTH >= currentRightBound)) { setVisible(false); } // If the tumbleweed is no longer in use (i.e. invisible) // it is given a 1 in 100 chance (per game loop) // of coming back into play: if(!isVisible()) { int rand = getRandomInt(100); if(rand == 3) { // when the tumbleweed comes back into play, // you reset the values to what they should // be in the active state: myJumpedOver = false; setVisible(true); // set the tumbleweed's position to the point // where it just barely appears on the screen // so that it can start approaching the cowboy: if(myLeft) { setRefPixelPosition(currentRightBound, myY); move(-1, 0); } else { setRefPixelPosition(currentLeftBound, myY); move(1, 0); } } } else { // when the tumbleweed is active, you advance the // rolling animation to the next frame and then // move the tumbleweed in the right direction across // the screen. if(tickCount % 2 == 0) { // slow the animation down a little nextFrame(); } if(myLeft) { move(-3, 0); // if the cowboy just passed the tumbleweed // (without colliding with it) you increase the // cowboy's score and set myJumpedOver to true // so that no further points will be awarded // for this tumbleweed until it goes off the screen // and then is later reactivated:

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