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15.2.6 WAITING FOR A COMMAND As we have speci ed, the robot will wait until a user commands it to a particular room. The subroutine WaitForCommand (Fig. 15.9) will wait until the user presses the right mouse button anywhere on the screen or the m or M button on the keyboard. This indicates to the routine that the user desires to command the robot. The routine will then
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//============================================================= //--- Subroutine WaitForCommand //--- Inputs : LowChargeLimit //--- Outputs : GoalNode //--- Calls To: GetTimeInSecs,DockWithCharger,ChooseRoom //--//--- this routine uses ChooseRoom to set the variable //--- GoalNode which indicates what room the robot is to go. //------------------------------------------------------------WaitForCommand: if rChargeLevel()<LowChargeLimit StartTime=-TimeOutLimit else gosub GetTimeInSecs StartTime = Tm endif repeat gosub GetTimeInSecs if Tm-StartTime > TimeOutLimit gosub DockWithCharger StartTime = 99999 endif readmouse xx,yy,b getkey k k = char(k) if b = 2 or k="m" or k="M" gosub ChooseRoom break endif until false Return //============================================================= //============================================================= //--- Subroutine GetTimeInSecs //--- Inputs : none //--- Outputs : Tm //--- Calls To: none //--//--- this routine sets Tm to the current minutes and seconds //--- in seconds. It is used like a stop watch. //------------------------------------------------------------GetTimeInSecs: Tm = Time(1) TmH = ToNumber(Substring(Tm,1,2)) TmM = ToNumber(Substring(Tm,4,2)) TmS = ToNumber(SubString(Tm,7,2)) Tm = TmH*3600+TmM*60+TmS Return //=============================================================
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FIGURE 15.9 Waiting for commands.
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invoke the ChooseRoom routine we have discussed before and then return to the main program. The outcome of all this is that the variable GoalNode is set according to the user s command. The main program will then cause the robot to move to the indicated node, as we will see later. The routine will also execute two other important tasks. The rst task makes the robot move to the docking station if there is no user command within a certain period of time. This is achieved by calling the subroutine GetTimeInSecs that starts a timer and initiates a stopwatch action. When the time period elapses without any user input the routine calls DockWithCharger (see later section). The second task causes the robot to move to the charging station if the battery charge level is below a certain threshold. This is done by checking the charge level using the rChargeLevel() function. When the value drops below a prede ned threshold the StartTime is set to a value that causes an immediate time out. This causes a call to the subroutine DockWithCharger as above. The routine GetTimeInSecs sets the variable Tm to the value of the current time converted to seconds. So if the time is 11:23:30 the variable Tm will be set to the value 11 3600 23 60 30 (41010). This is achieved by dissecting the string value returned by the function Time(1) and converting it to numbers and applying the formula. The outcome is the same as noting the time but the value is in seconds. If you save the value Tm in a variable StartTime and then call the subroutine again at a later time and subtract StartTime from the new Tm value you will get the elapsed time in between calls. This is the same action as using a stopwatch. WaitForCommand does the above and compares the time to a speci ed value TimeOutLimit. If the elapsed time exceeds the time out limit the routine invokes DockWithCharger and sets the start time to a value that will not cause a time out again, until the subroutine is called again. 15.2.7 EXECUTING THE COMMAND The command process culminates in specifying a GoalNode to go to. The node where the robot is situated is speci ed as the charge room node upon starting the program, and is always maintained in the variable RobotNode as the robot moves. These two variables are necessary for the actions of the subroutine FindPath. This subroutine is called by the routine MoveToRoom (Fig. 15.10) to nd a path of nodes to move from the RobotNode to the GoalNode. The subroutine MoveToRoom calls FindPath (Fig. 15.10) to create PathList[ ] and its length PathLength. This action is only performed if the destination node and the robot s node are different (i.e., the robot is not at the destination). Once PathList[ ] is created and is a valid list (PathLength > 0) the routine iterates through the list to make the robot GotoPoint to the nodes one at a time. You have seen the GotoPoint subroutine many times already in various chapters. It assumes that the robot has a compass and GPS system. In this section it is assumed that the robot has an accurate compass and GPS (global positioning system) or even better an LPS (localized positioning system). Later sections will discuss how to move the robot without the use of these two specialized and sometimes limiting instruments. The FindPath subroutine is the same as the one discussed in Chap. 14 for nding the shortest path between two nodes. The routine is modi ed slightly from the listing in
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