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26 bytes of sensor data at once, so what is received is buffered up. To keep track of progress, the bufferLast variable is a count of how many bytes received so far. The data received does not contain start- or end-markers; so you have to assume that every 26 bytes is a whole sensor packet. This presents some interesting synchronization problems if the SENSORS command is used a lot and you need a guaranteed response time. Just trust that things are okay. If you were building a robot for industrial use, this would be entirely unacceptable, but for hacking it s okay and rarely messes up. In the serialEvent method itself, first make sure the event is the right type (DATA_AVAILABLE) and then loop while data is available() and read data from the input into buffer. If it gets 26 bytes, reset the counter and copy the finished data into sensor_bytes. Finally, report that there s data with sensorsValid and update the internal state of the RoombaComm object with computeSensors(). The computeSensors() method encapsulates any processing of a newly received sensor packet. Right now, computeSensors() does nothing. If you wanted to add functionality to RoombaComm that acts on sensor data, the place to add it would be computeSensors(). So as far as the code goes, it s straightforward. What is difficult to deal with is the multithreaded nature of this setup. The serialEvent() method may be called at any time, like when your code may be in the middle of driving the Roomba or updating a user interface. You mitigate this problem with the buffer[] holding area and communicating through the sensorsValid flag. When you want to update your sensors info, set sensorsValid=false, send the SENSORS command to the Roomba, and then watch for sensorsValid to become true again.

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The war close to home: Children and violence in the United States In D J Christie, R V Wagner, & D D N Winter (Eds), Peace, con ict, and violence: Peace psychology for the 21st century (pp 110 119) Upper Saddle River, NJ: Prentice Hall Larzelere, R E (1986) Moderate spanking: Model or deterrent of children s aggression in the family Journal of Family Violence, 1, 27 36 Larzelere, R E (1996) A review of the outcomes of parental use of nonabusive or customary physical punishment Pediatrics, 98, 824 828 Lederach, J P (1997) Building peace: Sustainable reconciliation in divided societies Washington, DC: United States Institute of Peace Press Leisring, P A, Dowd, L, & Rosenbaum, A (in press) Treatment of partner aggressive women Journal of Aggression, Maltreatment and Trauma..