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13.1 IMPORTANT PROGRAMMING CONCEPTS
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: Variable = Function1(Parameter1, Parameter2) ' Call the Function : <= Execution Returns here after Call : typedef Function1(typedef Parameter1, typedef Parameter2) ' Entry : return retValue ' Load Return Value END PRoutinel ' Function End/Return Point
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While execution returns to the statement after the function call, the Variable assignment takes place when execution returns from the function and before it resumes on the statement after the function call. Using functions to return a new value instead of subroutines, which update a common global variable, makes seeing the operation of the code much more obvious and avoids the possibility that the global variable is changed incorrectly by another subroutine.
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13.1.8 CONSOLE I/O
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Your PC s console is the screen and keyboard used to enter data and display information. At first thought, console I/O is not very useful for robotics developers the robot is not going to have a direct connection to a computer at all times and the extra work doesn t seem justifiable. These statements are not completely accurate; knowing how to implement console I/O can be very useful to robot designers as they debug their creations and experiment with different ideas. One important point to make is that the term console is used to describe a monochrome text display with a straight ASCII keyboard. You should not have to worry about displaying graphics and handling mouse inputs and control (unless you want to). The basic console is an 80 character by 24 line display. Data can be formatted specially on the screen, but for the most part, it is a line of text output using the programming language s built-in print function. Data input can be quite complex and use the cursor control keys on your keyboard, but you should just input data to the console a line at a time with the data being accepted when the enter key is pressed. Waiting for the enter key to be pressed simplifies the data input, allows the use of the backspace key, and allows for the use of an InputString built-in function of the programming language. The simplest way to implement console I/O on a robot is to use a serial RS-232 connection between the robot and the PC. There are a number of downloadable terminal emulators for the PC, which will provide the console function as a separate window on your PC, allowing you to communicate with your robot or computer circuits with virtually no disruption of the operation of your PC.
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13.1.9 COMMENTS
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Comments are used by a programmer as remarks or reminders of what a particular line of code or subroutine is for. The comments are especially helpful if the program is shared among many people. When the program is compiled (made ready) for the computer or
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PROGRAMMING FUNDAMENTALS
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microcontroller, the comments are ignored. They only appear in the human-ready source code of your programs. To make a comment using BASIC, use the apostrophe (') character. Any text to the right is treated as a comment and is ignored by the compiler. For example:
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' this is a comment
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Note that the symbol used for comments differs between languages. In the C programming language, for instance, the characters // are used (also /* and */ are used to mark a comment block).
13.2 Robotics Programming
When programming is first taught, the concept that a program follows the input processing output model is used (Fig. 13-4) in which data inputs to the program are passed to a processing block and then passed out of the program in the form of outputs. This model is good for initial programs on a PC in which some number crunching is done to help you learn how the different programming statements work, but they have little relevance when programming robots. Instead, a programming model like the one shown in Fig. 13-5 should be used. In this model, the program is continually looping (never ending) and reading (or polling) inputs, passing them to a block of code for processing into outputs and then delaying some amount of time before repeating. The delay block is critical for robot programming as it allows the code to be tuned for the operation of the robot and its parts. If the delay is too short, the robot may vibrate more than move because one set of commands from some input conditions are countermanded by the next set of input conditions, resulting in the original input conditions are true again . . . Specifying the appropriate amount of delay is something that will have to be found by trial and error. The total loop time should be less than 1 s, but as to the best time, that is something that you will have to find by experimenting with your robot. As a rule of thumb, try to keep the total loop time at least 100 ms (0.1 s) so that the motors have time to start up and initiate action before stopping and a new set of inputs polled. You may also want to leave the motors running during the delay based on the assumption that chances are the processed output will not change radically from loop to loop. This will help make your robot move more smoothly, which is always desirable.
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