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Instead of setting and using variables, you could sprinkle the actual numbers through the program. There are bene ts to using variables instead of numbers. First, it makes the program read better. Set Power AC 4.0 isn t quite as clear as Set Power AC PowerHigh. More importantly, variables make the program easier to modify. What if you want to have high power be 8 instead of 5 Change the variable at the
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BumperCar program 1 (part 1).
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top of the program. Without the variable, you would have to nd each instance of the power value 5 and change them all. Note the dotted lines around the rst four program blocks. These blocks are all part of a single conceptual action, initialize variables. We could collect these into a subroutine called Initialize and make the owchart smaller without losing much of its meaning.
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BumperCar program 1 (part 2).
Once the variables are set we drop into a Repeat loop. The rst action in this loop is to set the robot to move forward at high power. Next, we make decisions based on input from the outside world (Fig. 13-6). The rst checks if switch 1 has been pressed. If it has, then it stops the
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robot and beeps. After a brief pause it backs up in a curve. If button 1 was not pushed, then we check button 3. If that button is pushed we repeat the stopand-backup sequence of actions, but along a di erent curve. This test-insidea-loop logic is known as polling. The program looks at the switches whenever it can, during the normal course of the program. Note the two sets of processes surround by dotted lines. These both contain exactly the same sequence of steps. Repeated code like this is a good candidate to be replaced by subroutine. If you decide to change the behavior of the timed stop, you can edit the code in one place, the subroutine, and the e ect will be seen everywhere it is used. Once the decision-making and backing-up code is processed, we return to the top of the loop, repeating forever. A compressed, easily readable version of this program is given in Fig. 13-7. Packaging-related blocks of code makes the program more readable, and it helps you to reuse common blocks of code. A side e ect is that you can t see all of the low-level program details without opening up the subroutines.
Parallel processing
While most computers and controllers can only follow one ow or thread of code at a time, a fast controller can pretend to follow more than one simultaneously, or in parallel. A program with more than one thread executing at one time is multi-threaded. We can organize the program in Fig. 13-7 into three simpler programs. Note that every programming environment has its own rules for parallel, or multi-threaded, programming. The RCX rules are very simplistic and involve the use of sensor watches. Only the watching part is done in parallel. Figure 13-8 shows our restructured program. Note that I am using the owchart I/O symbol for the watcher blocks. When the program rst starts, it creates two watcher threads. The rst one continuously tests to see if the rst switch is pressed, and the second thread watches switch 3. With the watchers rmly in place, the main program runs and ends up in an endless forward-moving loop. In the background, the watcher threads are waiting for a switch to be pressed. When a switch is nally pressed, the watcher takes control and runs its own program. When the watcher thread is done it returns control back to the main program. This is a form of interrupt programming, where an event can interrupt one program in order to run a di erent sub-program. When the interrupt has been processed, it then returns control.
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