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Note Instead of using the command line interface to compile applications, you can use an integrated development environment (IDE) with a Gnome or KDE interface to compile and edit application source files. On Gnome you can use gbuilder, Anjuta, and Titano. On KDE, you can use Gideon, KDevelop, and KDEStudio. You invoke the GNU C compiler on your Linux system with the gcc command. The gcc command, in turn, calls four other components. The first is the preprocessor. A C program contains special preprocessor commands that modify the code before it is sent to the compiler. The second component is the compiler itself. The compiler will process the code and generate an assembly code version of the program. The third component is the assembler. The assembler will use the assembly code version of the program to generate an object code version. The fourth component is the linker. The linker uses the program's object code to generate an executable file. The default name of this executable file is a.out. Normally, you should give the executable file a name of your own choosing. The -o option takes a filename as its argument. This filename will be the name of the executable file instead of the default, a.out. A list of gcc options is provided in Table 2. In the next example, the gcc command compiles the program greet.c. The user names the executable file "greet". The executable file is run by entering it at the Linux prompt as if it were a command.

2 F I G U R E 1-1

Before you can use GnuPG on Red Hat, you will have generate your private and public keys (see the Red Hat Customization Guide for details). On the command line (terminal window) enter the gpg command with the --gen-key command. The gpg program will then prompt with different options for creating your private and public keys. You can check the gpg Man page for information on using the gpg program.

You can implement your sensor and have your robot s controller send the appropriate data back for that sensor in the proper position (the third byte) in the 5 bytes always returned to RobotBASIC Anytime you use the rSense() function it will return the value for your custom sensor Even though the simulated rSense() provides only 3 bits of data, the real-world version provides all of the bits sent back from the robot when the function is used This is also true for rFeel() and rBumper() This lets you provide many custom features on your real-world robot You could, for example, easily let your robot have eight bumper sensors since the data returned is an 8-bit byte Notice that each time the robot is commanded to move, it sends back sensory data.

You are first asked to select the kind of key you want. Normally, you would just select the default entry, which you can do by just pressing the ENTER key. Then you choose the key size, usually the default 1024. You then specify how long the key is to be valid-usually there is no expiration. You will then be asked to enter a user ID, comment, and e-mail address. Press ENTER to then be prompted for each in turn. These elements identify the key, any of which can be used as the key's name. You use the key name when performing certain GPG tasks like signing a key or creating a revocation certificate. For example, the following elements create a key for the user richlp with the comment "author" and the e-mail address richlp@turtle.mytrek.com.

GPG Commands -s, --sign --clearsign -b, --detach-sign -e, --encrypt --decrypt [file]