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D<sub>Fahrenheit</sub> = ((D<sub>Celsius</sub> 9) / 5) + 32
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When you have more than one operator in an assignment statement, it is usually referred to as a complex assignment statement and it is a good idea to use parentheses to ensure the expression is evaluated in the order you want.
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15.4.3 EXECUTION FLOW AND DECISION STRUCTURES
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Normally, software flows from one statement to the next with each statement performing calculations or inputting or outputting data that are required to meet the application s specifications. In the first computer systems, the programs performed basic calculations and stopped when the answer had been calculated. In robot systems, this is not possible because the robots run continuously; for the programs to execute from line to next line continuously the programs would have to be literally infinitely long. To avoid the chore of writing infinitely long programs, computer scientists came up with the concept of looping a section of code along with being able to change where the program executes algorithmically using decision structures. Decision structures is a ten-dollar phrase that describes the programming statements that change the flow of the program s execution based on different inputs and variables. Before you can successfully develop application software programs, you have to understand how a program flows and changes operation using decision structures. Essentially all robot programs are based on the program template:
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I/O & Variable Set Up ("Initialization") Loop Start Delay to allow Inputs to Change, Robot to Move Input data from the environment Process data from the environment Output the processed data Loop End - Jump Back to Loop Start
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All of the statements in this example program structure can be implemented using the assignment statement except for the Loop Start and Loop End. The Loop End statement causes execution flow of the program to jump back to the start of the loop code, which is indicated by Loop Start. In PBASIC, Loop Start and Loop End are implemented using the DO and LOOP statements, changing the robot program structure to:
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I/O & Variable Set Up ("Initialization") DO Delay to allow Inputs to Change, Robot to Move Input data from the environment Process data from the environment Output the processed data LOOP
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Using the DO/LOOP statements, the steps within them are continuously repeated, eliminating the need to write an infinitely long program. Additional loops can be put inside the main loop. There will be cases, however, in which you want the looping to take place for a certain length of time or while some condition is true.
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The DO/LOOP (pronounced do loop ) statements can execute conditionally when WHILE or UNTIL conditions are attached to them. After the WHILE or UNTIL words, a comparison expression is used to indicate when the looping should stop. In Table 15-3, the different types of DO/LOOPs are listed with the WHILE and UNTIL words in place, and Table 15-4 lists the six comparison expressions that can be used with WHILE and UNTIL. Note that the WHILE or UNTIL and comparison expressions can be placed either at the start of the loop (testing before going in the first time) or after working through the loop statements at least once. The comparison expression is in the format
VarName|Constant operator VarName|Constant
where VarName|Constant is a variable or constant and operator is the equals, less than, or greater to sign, in one of the six combinations shown in Table 15-4. The complement value is the opposite and lets you use the complement word (UNTIL is the complement of WHILE and vice versa). When WHILE or UNTIL is used with the DO/LOOP, loops execute a set number of times, as in the following example:
i = 1 DO WHILE (i <= 7) ... i = i + 1 LOOP
' Loop 7 ' Code that executes 7 ' Increment Loop Counter
TABLE 15-3
Different Forms of the PBASIC DO/LOOP DESCRIPTION Infinite Loop, statements between DO and LOOP are executed forever Loop while the comparison expression evaluates to true Loop while the comparison expression evaluates to false Loop while the comparison expression evaluates to true Loop while the comparison expression evaluates to false THE LOOPING ENDS . . . Never
DO/LOOP TYPE DO Loop Statements LOOP DO WHILE Comparison Loop Statements LOOP DO UNTIL Comparison Loop Statements LOOP DO Loop Statements LOOP WHILE Comparison DO Loop Statements LOOP UNTIL Comparison
When comparison expression is false When comparison expression is true When comparison expression is false When comparison expression is true
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