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rotating about their centers, A, with the follower constrained to give a total rise, h In Fig 1426a we have a two-sided cam and an equilateral triangle follower The radius of cam curvature r equals the distance from the center to the corner of the triangle The path of point A is approximately an equilateral triangle (Not exactly triangular due to the small rounded corners) In Fig 1426b the cam is constructed on an equilateral triangle having a circular arc radius equal to the width of the square follower, h This follower takes a square path, again with small-radius corners Note that the radius h is equal to the total displacement of the follower Obviously, in a similar manner any number of sides may be used It should be observed that a practical dif culty exists in that the center line of the shaft A is on the cam edge, which does not always provide enough space for the shaft This shortcoming may be alleviated by the design shown in Fig 1426c or by employing an asymmetrical cam having a small radius at the cam center On the other hand, if the outer frame is xed, the cam would be free to travel constrained by the frame track Thus, any point on the cam would describe a similar geometric path, as shown in Figs 1426a and b The size of the path depends on the distance from the cam center of rotation to the point on the cam under consideration This principle has been applied in the drilling of holes of a polygon of any shape Let us analyze a triangular circular arc cam enclosed by a translating follower on two sides only, Fig 1426c The design discussed here has been successfully used for sewing machines, lm movement, fuel pumps, and other mechanisms Its application is used in silent, high speed, lightly loaded, small power mechanisms Some of these have been in excellent condition after over 20 years of operation For further information, see Richards (1940, 1941) The design shown in Fig 1426c is more practical than the previous kinds because space has been provided for the shaft Furthermore the cam has a radius R1 in each corner This radius has the additional advantage of increasing the wear life over the previous cams having sharp corners Note that the actual displacement h is unaffected by the size of this radius since the basic cam is contour ABC The sides of the cam are shown at a radius r = h + R1, and the breadth of the follower is h + 2R1 Using this triangular circular arc cam, we shall show that the displacement is made up of parts of the simple harmonic motion curve, Fig 1427 All action with circular arcs is similar In Fig 1427a let q equal the angle of cam rotation from some original position.

When this method is invoked, there are no arguments from which the type of T can be inferred The return type of T is not sufficient for the inference to take place Therefore, this won t work:

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The serial data is received on pin rxmit (PORTB0) at a baud rate of rx_baud (2400) The program execution will remain in a tight loop, receiving serial data and comparing each received byte to the character Z When the character Z is received, the next data byte is stored in the variable named control We will then compare the contents of the variable control to the character A If the comparison is true, then the microcontroller will produce a couple of tones on the piezo speaker The receiver program is called receive-testbas and is listed in Program 67 Program the PIC 16F84 with the receive-testhex file listed in Program 68 Place the PIC in the 18-pin socket on the robot s main board

FIGURE 1427 Triangular circular arc cam characteristics (translating follower)

Instead, it must be invoked with an explicit type specified For example:

If we consider the cycle in which q varies from 0 to 60 (the positive acceleration period of the motion), the displacement y = h(1 - cosq ) in This is simple harmonic motion for these 60 to a total lift equal to h/2 The velocity and acceleration by differentiation y = wh sin q ips y = w 2 h cosq in sec

Like methods, delegates can also be generic To declare a generic delegate, use this general form: delegate ret-type delegate-name<type-parameter-list>(arg-list); Notice the placement of the type parameter list It immediately follows the delegate s name The advantage of generic delegates is that they let you define, in a type-safe manner, a generalized form that can then be matched to any compatible method The following program demonstrates a generic delegate called Invert that has one type parameter called T It returns type T and takes an argument of type T

'-----------------------------------------------------------------------------------------------------------------------------' Name : receive-testbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test the wireless data link ' : between the Lynx 433LC series ' : transmitter and receiver '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs pins 0 and 1 inputs trisa = %00000011 ' PortB set as outputs pin 0 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" rx_baud rxmit piezo control CON N2400 VAR PORTB0 VAR PORTA3 VAR BYTE

(1418)

// Demonstrate a generic delegate using System; // Declare a generic delegate delegate T Invert<T>(T v); class GenDelegateDemo { // Return the reciprocal of a double static double Recip(double v) { return 1 / v; } // Reverse a string and return the result static string ReverseStr(string str) { string result = ""; foreach(char ch in str) result = ch + result; return result; }

static void Main() { // Construct two Invert delegates Invert<double> invDel = Recip; Invert<string> invDel2 = ReverseStr;

(1419) (1420)

SOUND PIEZO,[115,10,50,10] start: serin rxmit,rx_baud,["Z"],control if control = "A" then SOUND PIEZO,[115,10,80,20] pause 100 endif goto start end

ConsoleWriteLine("The reciprocal of 4 is " + invDel(40)); ConsoleWriteLine(); string str = "ABCDEFG"; ConsoleWriteLine("Original string: " + str); str = invDel2(str); ConsoleWriteLine("Reversed string: " + str); } }

The minus acceleration period is similar for the next rise portion h/2, the total lift occurring in 120 of cam rotation A dwell of 60 of cam rotation then follows In Fig 1427b we plot the curves of the complete action in which it is seen that the acceleration curve is discontinuous

Let s look closely at this program First, notice how the Invert delegate is declared:

:100000009F2864001120031801281C2008308F004D :100010001D2011208E0C0C288F0B08281D200E0887 :100020000800220884002008841780048413000537 :100030001F192006FF3E08001F171F0D06398C00F0 :100040002B208D008C0A2B201F1F7E281F138C0055 :10005000023095207E2800308A000C088207013487 :1000600075340334153400343C340C34D9348F00E7 :100070002208840020095E2084138F0803199A281F :10008000F03091000E0880389000F0309103031991 :10009000910003198F0303199A284E286120030148 :1000A0000C1820088E1F20088E0803190301900FDA :1000B0005B28800642285C280000452884178005BC :1000C0009A280D080C0403198C0A80300C1A8D062E :1000D0000C198D068C188D060D0D8C0D8D0D9A2822 :1000E0008F018E00FF308E07031C8F07031C9A2898 :1000F00003308D00DF307E2072288D01E83E8C00B9 :100100008D09FC30031C87288C07031884288C0772 :1001100064008D0F84280C188D288C1C91280000F9 :100120009128080003108D0C8C0CFF3E03189228B8 :100130000C089A28831303138312640008008316A3 :10014000033085000130860005308312A20008309C :10015000A00073308E000A30372032308E000A3013 :1001600037200630A2000130A00004309F0001209B :100170005A3C031DB7280120A40064002408413C18 :10018000031DD0280530A2000830A00073308E0077 :100190000A30372050308E00143037206430702001 :0601A000B1286300D12824 :02400E00F53F7C :00000001FF

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