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A differential gear system ideally evenly applies torque to two outputs, such as axles, and allows the output axles to turn at different rates. The trick to a differential gear system is that the two output axles are allowed to turn at different rates if needed. This is important when making a turn. Imagine having a pair of wheels locked to a single axle in such a way that they must always turn at the same rate. Now, if this pair of wheels is driven into a turn, the wheels will have a hard time completing the turn, since each wheel needs to travel a different distance. The wheel on the inside of the turn needs to turn less than the wheel on the outside of the turn. The inside wheel would actually drag some when turning, thus requiring the power source to create more power to overcome the friction caused by the dragging wheel. Having a differential gear system with wheels that can turn at a different rate will avoid this problem and make for a smooth turn. Most modern rear-wheel drive cars and trucks make use of a differential on their real wheels.

Figure 1 14. Objects may have elements, too. In 5, we ll explore some array-only features for manipulating elements. Those make elements in array magical compared to those in an object. It s sort of like how putting on the spidey suit turns ordinary Peter Parker into Spiderman.

In this example we declare a class, PeopleDataContext, to represent the data context. The class has a field, People, for the database table Person. The constructor calls the DataContext base constructor with the connection string. To use the strongly typed context, we d instantiate it before performing our first query, like this:

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A steering drive system is what most cars use to turn; in a robot, you would have a single motor powering the robot and then a second motor controlling the steering You would most likely have a differential gear system on the drive wheels to prevent skidding and some kind of rack system on the front steering mechanism With LEGO robots, systems like this can be a bit more difficult to build but can be done with a little patience There are multiple variations for a steering drive robot You can have two wheels that turn, like on a car, or have a single steering wheel that controls the steering When having two wheels that steer, you have to be concerned about wheel skid, since both steering wheels are pivoting on their own pivot points and not on a common point Cars overcome this problem by using Ackerman steering correction.

Alright, it s trivial to query our ice cream array for what flavor I d rank eighth: var iceCream = [ "Chocolate Fudge Brownie", "Half Baked", "New York Super Fudge Chunk", "Coffee Heath Bar Crunch", "Cherry Garcia", "Mud Pie", "Milk & Cookies", "Cinnamon Buns", "Chocolate Chip Cookie Dough", "Mission to Marzipan" ]; iceCream[7]; // "Cinnamon Buns" But it s quite another to query whether a flavor like "Cinnamon Buns" is among my top ten, as the following sample and Figure 1 15 illustrate: var iceCream = [ "Chocolate Fudge Brownie", "Half Baked", "New York Super Fudge Chunk", "Coffee Heath Bar Crunch", "Cherry Garcia",

Dim people As New PeopleDataContext(connString)

"Mud Pie", "Milk & Cookies", "Cinnamon Buns", "Chocolate Chip Cookie Dough", "Mission to Marzipan" ]; "Cinnamon // false "Cinnamon // false "Cinnamon // false "Cinnamon // false "Cinnamon // false "Cinnamon // false "Cinnamon // false "Cinnamon // true Buns" === iceCream[0]; Buns" === iceCream[1]; Buns" === iceCream[2]; Buns" === iceCream[3]; Buns" === iceCream[4]; Buns" === iceCream[5]; Buns" === iceCream[6]; Buns" === iceCream[7];

This is a geometry that reduces the skid of the wheels by forcing the steering wheels to turn along the same steering arc Without Ackerman correction, the steering wheels will turn on different steering arcs, forcing them to skid and throw off your robot s odometry calculations A single steering wheel such as on a tricycle will prevent this problem, since you then only have to deal with a single turning arc instead of two The advantage to a steering drive system is that you have separated the drive system from the steering system, so you no longer have to worry about issues like motor matching and keeping two motors rotations in sync This is great for situations in which you re using odometry A disadvantage to using steering drive is that turning into tight spots is not as easy as it is with a differential steering system.

We ve now written all we need for LINQ to manage the Person database table as the People collection. Querying it will be similar to what we did in 1 to query inmemory objects.

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