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Table 6-2: GPG Commands and Options Description Signs a document, creating a signature. May be combined with --encrypt. Creates a clear text signature. Creates a detached signature. Encrypts data. May be combined with --sign. Decrypts file (or stdin if no file is specified) and writes it to stdout (or the file specified with --output). If the decrypted file is signed, the signature is verified. Verifies a signed file. The signature can either be contained with the file or be a separate detached signature file. Lists all keys from the keyrings or those specified. Lists all keys from the public keyrings or those specified. Lists your private (secret) keys. Lists your keys along with any signatures they have. Lists keys and their signatures and verifies the signatures. Lists fingerprints for specified keys. Generates a new set of private and public keys. Edits your keys. Use commands to perform most key operations such as sign to sign a key or password to change your passphrase. Signs a public key with your private key. Same as sign in --edit-key. Removes a public key from the public keyring. Removes private and public key from both the secret and public keyrings. Generates a revocation certificate for your own key. Exports a specified key from your keyring. With no arguments, exports all keys. Exports and sends specified keys to a keyserver. The option --keyserver must be used to give the name of this keyserver. Imports keys contained in files into your public keyring. Creates ASCII armored output, ASCII version of encrypted data. Writes output to a specified file. Specifies the default private key to use for signatures.

This back-and-forth handshaking is very important because the transceivers must know when to transmit and when to listen or they can get out of sync This methodology also speeds the communication process because no additional transmissions are necessary to request the standard sensory data (line, infrared, and bumper) There are several more RobotBASIC statements that communicate over the serial link when the rCommPort mode has been invoked In order to make the communication ef cient, each of these commands will perform as requested and then return 5 bytes If all of the bytes are not needed, then 0s are sent in the unused bytes Unless otherwise speci ed, the unused bytes are at the end of the transmission These bytes cannot be omitted even though they are unused because RobotBASIC will be expecting them See Sec D6 for additional details on the protocol The table in Fig 17.

--verify [[sigfile] [signed-files]]

--list-keys [names] --list-public-keys [names] --list-secret-keys [names] --list-sigs [names] --check-sigs [names] --fingerprint [names] --gen-key --edit-key name

20 shows the two commands discussed earlier as well as the remaining sensory functions and summarizes their functionality To create consistency, all of these commands will send an ID and a second byte even if no parameters are required Some simulator commands such as rTurn are sent to the robot as two versions (turn left and turn right) This allows a full range of 360 to be handled with a single byte of data If you use the command rTurn 350 in the simulator, RobotBASIC would automatically order the robot to turn left 10 , and if you say rTurn 350 a 10 right turn is commanded..

--sign-key name --delete-key name --delete-secret-key name --gen-revoke --export [names] --send-keys [names]

Table 6-2: GPG Commands and Options Description The keyserver to look up public keys not on your keyring. Can also specify the site to send your public key to. host -l pgp.net | grep www.keys will list the keyservers. Encrypts data for the specified user, using that user's public key. Specifies the default recipient to use for encrypting data.

You can use any unique part of a key's identity to reference that key. For example, the string "Richard" would reference the above key, provided there are no other keys that have the string "Richard" in them. "richlp" would also reference the key, as would "author". Where a string matches more than one key, all the matched ones would be referenced. gpg will then ask you to enter a passphrase, used to protect your private key. Be sure to use a real phrase, including spaces, not just a password. gpg then generates your public and private keys and places them in the .gnupg directory. The private key is kept in a file called the secring.gpg in your .gnupg directory. The public key is placed in the pubring.gpg file, to which you can add the public keys of other users. You can list these keys with the --list-keys command. In case you later need to change your keys, you can create a revocation certificate to notify others that the public key is no longer valid. For example, if you forget your password or someone else discovers it, you can use the revocation certificate to tell others that your public key should no longer be used. In the next example, the user creates a revocation certificate for the key richlp and places it in the file myrevoke.asc:

Command Bytes Sent Bytes Received rLocate 3, 0 bumper, infrared, line, 0, 0 rForward 6, units to move bumper, infrared, line, 0, 0 (backwards) 7, units to move bumper, infrared, line, 0, 0 rTurn (right) 12, degrees to turn bumper, infrared, line, 0, 0 (left) 13, degrees to turn bumper, infrared, line, 0, 0 rCompass 24, 0 bumper, infrared, line, degrees rLook (right) 48, 0 or angle bumper, infrared, line, color (left) 49, 0 or angle bumper, infrared, line, color rBeacon 96, Color number bumper, infrared, line, distance rRange (right) 192, 0 bumper, infrared, line, distance (left) 193, 0 bumper, infrared, line, distance rPen 129, 0, 1 for up, down bumper, infrared, line, 0, 0 rSpeed 36, speed bumper, infrared, line, 0, 0 rGPS 66, 0 x, y, 0 Note: Distance, degrees, color, x, and y are 2-byte integers (MSB first) Refer to Appendix D for more details.