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FIGURE 13-4 Typical beginner program flow. Input data is passed to a block of code for processing and then output. This program model cannot be used for robot programming.
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13.3 GRAPHICAL PROGRAMMING
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FIGURE 13-5 Robot program flow with the inputs being continually polled and the data processed into outputs. The delay block slows down the execution to make sure that outputs have time to take effect before the environment is polled again for the next set of output commands.
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13.3 Graphical Programming
In this chapter, there is a lot of material on text-based programming that probably seems very difficult and complex, especially when you consider that there are many graphical robot programming environments available that could reduce a reasonably complex function like programming a light-seeking robot into the simple chore of drawing a picture like the one in Fig. 13-6. This program will cause a robot to move toward the brightest point in the room. This is a lot easier to understand than the text-based version, which would look something like
while (1) ' If (Left > Right) ' Right Motor = On Left Motor = Off else if (Left < Right) ' Right Motor = Off Left Motor = On else ' Right Motor = On Left Motor = On endif endif Dlay(100) ' Delay 100 ms endwhile Loop Forever Turn Left
Turn Right
Left = Right, Go Straight
which would probably take you a lot longer to program than moving some blocks and lines around in a graphic editor. While being more difficult to understand and longer to develop, the text-based program gives you a great deal of flexibility that you don t have with most graphical programming environments. Both programs perform the same operations and work the same way, but what happens if you discover that rather than turning as soon as the left and right light sen-
PROGRAMMING FUNDAMENTALS
Left Light Sensor
Differencer
Right Light Sensor
Turn Left
Turn Right
Go Straight
FIGURE 13-6 A graphical programming environment can produce simple and readable programs like the one shown here, but it tends to be difficult to tune with exact parameters as well as enhance with extra logic functions.
sors are different values, the robot could run straight while they were within two values of each other. In the graphical programming environment, this would be impossible, but in the text-based program the two if statements could be changed to
if (Left > (Right + 2) if ((Left + 2) < Right)
which would cause the robot to move forward if Left and Right were +/ 2 of each other rather than turning if they weren t exactly equal. There are a lot of other cases where you will find that you need to tweak the program to run optimally, but you find that it is impossible to modify the graphic program for these needs. Another advantage of text-based programming over graphic programming is the ability to add more complex logic to the operation of the robot. For example, if you wanted the robot to turn right if it has turned left five times in a row you can add the code quite easily to the text program whereas the graphic program does not have that capability (and indeed, very few graphical programming environments even have variables). It is important to not generalize. While most beginner and hobbyist graphical programming environments and languages do have the limitations listed here, more professional ones do not. For example, National Instruments LabView programming environment offers the same capabilities and flexibility as a text programming language despite being based on just graphic symbols for operators, variables, and decision structures. Hopefully you realize that these capabilities do not come free; creating a complex graphic program will require at least the same amount of study and practice as developing a text-based one.
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