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Under each key, you store a list of people. In this case, the lists contain only me. Now, if you want a list of all the people registered who have the middle name Lie, you could do the following: >>> storage['middle']['Lie'] ['Magnus Lie Hetland'] As you can see, adding people to this structure is a bit tedious, especially when you get more people with the same first, middle, or last names, because then you have to extend the list that is already stored under that name. Let s add my sister, for example, and let s assume you don t know what is already stored in the database: >>> my_sister = 'Anne Lie Hetland' >>> storage['first'].setdefault('Anne', []).append(my_sister) >>> storage['middle'].setdefault('Lie', []).append(my_sister) >>> storage['last'].setdefault('Hetland', []).append(my_sister) >>> storage['first']['Anne'] ['Anne Lie Hetland'] >>> storage['middle']['Lie'] ['Magnus Lie Hetland', 'Anne Lie Hetland'] Imagine writing a large program filled with updates like this it would quickly become quite unwieldy. The point of abstraction is to hide all the gory details of the updates, and you can do that with functions. Let s first make a function to initialize a data structure: def init(data): data['first'] = {} data['middle'] = {} data['last'] = {} In the preceding code, I ve simply moved the initialization statements inside a function. You can use it like this:

The objective here is to get compass readings from a robot using one of the three compasses described earlier.

which in this case is an instance of the MyNode type. Now only the edit() method needs to be called, which delegates to the node. Therefore, we need not know the actual action logic of the class in order to create our context-sensitive action.

>>> storage = {} >>> init(storage) >>> storage {'middle': {}, 'last': {}, 'first': {}} As you can see, the function has taken care of the initialization, making the code much more readable.

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I ll start with programming the BASIC Stamp. In the first part of this program (see Example 4-1), I connect my three compasses to the different pins on the Stamp (1 and 2) for the Devantech, (8, 9, 10, and 11) for the Vector, and (0, 1, 2, and 3) for the Dinsmore. Second, I create my main program where I wait for specific commands: 100 to start reading, 101 for the Dinsmore, 102 for the Devantech, and 103 for the Vector. Third, I create three separate subroutines for the different compasses. For the Devantech compass, I just need to use the PULSIN to get the compass reading, For the Vector, I need to send some signals and wait for a time before I can SHIFTIN the readings. And the Dinsmore reads logic values from the input pins to return one of eight readings (N, E, S, W, NE, NW, SE, SW). (See Figure 4-1.) Example 4-1. Compass.bs2 ' {$STAMP BS2} ' {$PBASIC 2.5} ' {$PORT COM1} ' cmd variable cmd N9600

In the two previous sections you learned how to create a context-sensitive action based on the CallbackSystemAction class and the CookieAction class Take particular note of the fact that the CallbackSystemAction is dependent on an ActionMap, while the CookieAction has a relationship with the Node class Next, yet another approach will be introduced You will be given a starting point for providing generic context-sensitive action classes with the help of the Lookup class (see 6 for details about Lookup) You will see how to use Lookup to create a general context-sensitive action, by means of which you will (similar to how it is done with the CookieAction class) use a Class object to determine when an action should be enabled.

' CMPS03 COMPASS cin CON headingC VAR ' VECTOR COMPASS sselect CON sdo CON sclk CON rst CON headingV VAR ' DINSMORE 1490 COMPASS north CON east CON south CON west CON headingD VAR

Note The keys of a dictionary don t have a specific order, so when a dictionary is printed out, the order

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