vb.net read barcode from camera HARDWARE INTERRUPT in Software

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38.3.2 HARDWARE INTERRUPT
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A hardware interrupt is a mechanism by which to immediately request attention from the microprocessor. It is a physical connection on the microprocessor that can in turn be attached to some sensor or other input device on the robot. With a hardware interrupt the microprocessor can spend 100 percent of its time on the main program and temporarily suspend it if, and only if, the hardware interrupt is triggered. Hardware interrupts are used extensively in most computers, and their benefits are well established. Your PC has several hardware interrupts. For example, the keyboard is connected to a hardware interrupt, so when a key is pressed the request is sent to the processor to stop executing the current code and devote its attention to processing the data from the keyboard. The standard PC hardware has 16 hardware interrupt sources, which are prioritized by hardware within the PC down to just one interrupt request pin on the microprocessor. You can do something similar in your own robot designs.
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38.3.3 GLASS HALF-EMPTY, HALF-FULL
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There are two basic ways to deal with error modes in an interrupt-based system. One is to treat them as exceptions rather than the rule:
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In the exception model, the program assumes no error mode and only stops to execute some code when an error is explicitly encountered. This is the case with a hardware interrupt, which will stop execution of the current application anytime an error condition is detected and used to cause an interrupt. In the opposite model, the program assumes the possibility of an error mode all the time and checks to see if its hunch is correct. This is the case with the timer interrupt in which the handler subroutine will poll all the robot s sensors periodically.
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The approach you use will depend on the hardware choices available to you. If you have both a timer and a hardware interrupt at your disposal, the hardware interrupt is probably the more straightforward method because it allows the microprocessor to be used more efficiently.
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38.4 TASK-ORIENTED ROBOT CONTROL
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38.4 Task-Oriented Robot Control
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As workers, robots have a task to do. In many books on robotics theory and application, these tasks are often referred to as goals. A robot may be given multiple tasks at the same time, such as the following:
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1. 2. 3. 4.
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Get a can of Dr. Pepper. Avoid running into the wall while doing so. Watch out for the cat and other ground-based obstacles. Bring the soda back to the master.
These tasks form a hierarchy. Task 4 cannot be completed before task 1. Together, these two form the primary directive tasks. 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.
38.4.1 PROGRAMMING FOR TASKS
From a programming standpoint, you can consider most any job you give a robot to be coded something like this:
DO Task X DO WHILE (ERROR) Task Y LOOP LOOP UNTIL Task X complete ' ' ' ' The Primary Task An Error Condition The Error Correction Code Continue Task X until it is Complete
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 is not activated. The robot programming is likewise written so that when the error condition is cleared, it can resume its prime directive task.
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