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included by a reference in a higher-level chart. Another name for a sub-program is subroutine.
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RCX PROGRAMMING
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The environment we are programming in is the LEGO Mindstorms Robotics Invention System 2.0. The heart, or should I say brain, of the system is the RCX controller. Programming the RCX is a lot like drawing a owchart. This makes it easy to snap together programs. Try This: An RCX program that mirrors the owchart in Fig. 13-1 is shown in Fig. 13-2. The rst thing this program does is turn on motors A and C.
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Fig. 13-2.
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RCX program.
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The Repeat. . .Until is the RCX representation of a loop. In this case, it loops until the switch on input 1 is touched. Inside the loop is an if-then block, known as a Yes or No block. If the light sensor on input 2 is bright, the motors are set to full power forward, otherwise we execute a complex subroutine to nd the light. Once the loop is completed, meaning the robot has bumped into something, the motors are turned o and the program is stopped. A version of this program that is easier to read in this black-and-white book format is given in Fig. 13-3. We shall use this schematic form through the rest of our RCX programs. The processes in this owchart are RCX Small Blocks. Big Blocks or MyBlocks are sub-programs. Wait and Repeat structures are shown with a new schematic shape so you can distinguish them from tests and processes.
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Fig. 13-3. RCX program, owchart style.
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Programs
SIMPLE TIMED SEQUENCE
Try This: The simplest program is a sequence of timed actions. Do this for a second, then do that, then do this other, and so on. One example of this is the Dance program illustrated in Fig. 13-4. This program is controlling two motors named A and C. They can be set to move forward ^ or backward v at di erent power levels. They could be in any robot with di erential drive steering, where the speed and direction of the drive motors are used to steer the robot. The program is not complex, though it does create a fancy little dance routine. It s long, so long that it had to be broken in half to t it on the page, but it s simple. Dance uses timed behaviors. Go forward for a second, then go backward for a half second, then turn for a half second. While timed behavior is useful, it is still open-loop control. The distance traveled in a half second may be di erent depending on the state of the batteries, the weight of the robot, what kind of oor it is on, and perhaps even the phase of the moon. There is one loop in this program. It repeats the entire string of behavior once, meaning it runs it two times, the rst pass through and the one repeat. A more interesting program might use feedback to keep the motions consistent. If you had a rotational sensor, not included in the standard kit, you could count how many times each wheel turns. This count can be used to decide when the robot should change directions. Even simple feedback like counting wheel rotations can make your robot more predictable.
OBSTACLE AVOIDANCE
Try This: One of the simplest feedback-based programs is the basic bumpercar program. This program assumes your di erential-drive robot has two bumpers on it, sensors 1 and 2. This version of the program drives forward until it hits something. Once it has hit an obstacle, it backs up and turns away from it and then resumes driving forward. The rst part of the program is shown in Fig. 13-5. The rst blocks set some variables. A variable is a named area in memory that can hold a value. When the variable name is used, it represents the value in its associated memory. That value in memory can be changed at any time, so the next use of the variable uses the new value. A named value that never changes is called a constant, but we don t use those here.
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