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array). Run-time bugs may also be caused by missing data, such as looking for data on the wrong input pin of a microcontroller. I Logic bug, caused by a program that simply doesn t work as anticipated. Logic bugs may be due to simple math errors (you meant to add, not subtract) or by mistakes in coding that cause a different behavior than you anticipated.
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As workers, robots have a task to do. In many books on robotics theory and application, these tasks are considered goals. Personally, I m not big on the term goal because that suggests a human emotion involving desire. The robot you build will have no desire to fetch you a can of soda, but will merely do so because its programming tells it to. Instead, I prefer the term task a defined job that the robot is expected to accomplish. A robot may be given multiple tasks at the same time, such as the following:
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Get me a can of Dr. Pepper; Avoid running into the wall while doing so; Watch out for the cat and other ground-based obstacles; And remember where you came from so you can bring the soda back to me.
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These tasks form a hierarchy. Task 4 cannot be completed before task 1. Together, these two form the primary directive tasks (shades of Star Trek here okay, I admit it: I m a Trekker!). Tasks 2 and 3 may or may not occur; these are error mode tasks. Should they occur, they temporarily suspend the processing of the primary directive tasks.
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From a programming standpoint, you can consider most any job you give a robot to look something like this:
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Do Task X until on error Do Task Y repeat Task Y until no error resume Task X Task X complete
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X is the primary directive task, the thing the robot is expected to do. Y is a special function that gets the robot out of trouble should an error condition of which there may be many occurs. Most error modes will prevent the robot from accomplishing its primary directive task. Therefore, it is necessary to clear the error first before resuming the primary directive. Note that it is entirely possible that the task will be completed without any kind of complication (no errors). In this case, the error condition is never raised, and the Y functionality
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is not activated. The robot programming is likewise written so that when the error condition is cleared, it can resume its prime directive task.
MULTITASKING ERROR MODES FOR OPTIMAL FLEXIBILITY
For a real-world robot, errors are just as important a consideration as tasks. Your robot programming must deal with problems, both anticipated (walls, chairs, cats) and unanticipated (water on the kitchen floor, no sodas in the fridge). The more your robot can recognize error modes, the better it can get itself out of trouble. And once out of an error mode, the robot can be reasonably expected to complete its task. How you program various tasks in your robot is up to you and the capabilities of your robot software platform. If your software supports multitasking (BasicX, OOPic, LEGO Mindstorms, and others), then try to use this feature whenever possible. By dealing with tasks as discrete units, you can better add and subtract functionality simply by including or removing tasks in your program. Equally important, you can make your robot automatically enter an error mode task without specifically waiting for it in code. In non-multitasking procedural programming, your code is required to repeatedly check (poll) sensors and other devices that warn the robot of an error mode. If an error mode is detected, the program temporarily branches to a portion of the code written to handle it. Once the error is cleared, the program can resume execution where it left off. With a multitasking program, each task runs simultaneously. Tasks devoted to error modes can temporarily take over the processing focus to ensure that the error is fixed before continuing. The transfer of execution within the program is all done automatically. To ensure that this transfer occurs in a logical and orderly manner, the program should give priorities to certain tasks. Higher-priority tasks are able to take over ( subsume, a word now in common parlance) other running tasks when necessary. Once a high-priority task is completed, control can resume with the lower-priority activities, if that s desired.
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