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A very common LEGO robot design is the three-wheeled robot, or tribot (see Figure 2 21). The threewheeled robot is similar to the two-wheeled robot but has a caster wheel instead of skids; the robot will have two wheels, each driven by a separate motor, and a caster wheel in the rear. The passive caster wheel will turn and travel in the direction of the robot. The third wheel is just in place to give balance to the robot chassis and to reduce friction on the game surface caused by skids.

Figure 8 12. Deleting the two newly inserted rules with deleteRule() swaps the sprite from green to fuchsia to blue.

LINQ to XML provides all the methods needed to insert, modify, and delete elements in an existing XML document.

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Now then, what if you want to query the overall styles from the CSS cascade for an element In other words, you want to know the declarations that have the highest precedence. Those form one humongous declaration block, which, like the declaration block for a rule, JavaScript represents with a CSSStyleDeclaration object. You already know how to query those cumulative declarations the. operator and a CSS2Properties member. Remember they are camel case, not dash case. On the other hand, CSSStyleDeclaration.cssText contains the declarations block, minus the curly braces, as a string. However, this string is oftentimes too lengthy to bother with. The cumulative declaration block from the cascade differs from that of a rule in a style sheet in a few ways:

Four-wheeled robots are much more stable that a two- or three-wheeled ones. Having a wheel on all four corners of the chassis provides a large area for the center of gravity, thus making the robot very stable and able to avoid losing its balance. Using differential steering on four-wheel robots is a bit more difficult than with two- or three-wheeled robots, but with proper programming, that issue can be overcome. In 4, we will talk about this more. There are two types of four-wheeled robots: two-wheel drive and four-wheel drive. Two-wheel drive works very similar to other robot designs in the fact that two of the wheels are each driven by single motors; the other two wheels are passive and just tagging along for the ride to add stability for the robot. Steering can be a challenge with two-wheel drive, since one wheel on each side of the robot is going to be skidding while the robot turns. If these wheels have good traction on the mat, they can cause a lot of resistance during the turn. Since these passive wheels are not being powered, they really don t need to have a tire (see Figure 2 22); you can run the wheels without tires to allow them to skid freely on the mat when turning. A four-wheel drive robot is a bit more work to build; each pair of wheels on the side of the robot needs to be driven by a single motor. In most cases, this is going to require some type of gearing setup. Four-wheel drive is useful when you need to have a strong robot or one that can climb steep inclines. A

In the following code snippet (a duplicate of Listing 3-20) the code that adds a new element to the XML document appears in boldface:

It is read-only. Try to assign a new value to a property from the cascade, and JavaScript calls you a dummy by way of an error. Any relative values are converted to absolute values. Typically this means converting the value to pixels. Any property that sets several properties in one fell swoop, such as a margin or border, may contain undefined, while their corresponding fully expanded properties, such as marginLeft or borderRightStyle, will always contain a value. As a rule of thumb, do not query rollup values from the cascade. Query their fully expanded equivalents instead.

Refresh Firefox, clear Firebug, and let s cobble together a helper function named queryCascade() that works with two parameters: element will contain an Element node for the DOM tree. property will contain the name of the CSS property as a camel case string. That is to say, don t pass a dash case string or a camel case identifier.

Dim reader As XmlReader = XmlReader.Create("..\..\People.xml") Dim xml As XDocument = XDocument.Load(reader) Console.WriteLine(xml) Dim idperson As XElement = xml.Descendants("idperson").Last() idperson.Add(New XElement("idperson", _ New XAttribute("id", 1), _ New XAttribute("year", 2006), _ New XAttribute("salaryyear", "160000,0000")))

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