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//============================================================= //--- Subroutine GotoPoint //--- Inputs : x,y //--- Outputs : none //--- Calls To: CheckObstacles //--//--- this routine turns the robot towards the location x,y //--- and then moves the robot there. If there is an object //--- it waits in a loop until the object goes away. Also the //--- routine keeps trying to turn and move the robot until it //--- definitely reaches the goal point. //------------------------------------------------------------GotoPoint: while true dx = x-rGpsX() dy = y-rGpsY() if dx=0 AND dy = 0 then return Theta = PolarA(dx,dy)*180/pi()+90-rCompass() if Theta > 180 then Theta = Theta-360 if Theta < -180 Then Theta = Theta+360 rTurn Theta gosub CheckObstacles if not Obstructed then rForward 1 wend Return //============================================================= //============================================================= //--- Subroutine CheckObstacles //--- Inputs : none //--- Outputs : Obstructed //--- Calls To: none //--//--- checks for obstacles, also allows for simulated transient //--- obstacles indicated by the left mouse button kept pushed //--- down in front of the robot. //--- sets Obstructed to true or false. //------------------------------------------------------------CheckObstacles: Obstructed = true CO_B = rBumper()&4 readmouse xx,yy,bb if bb=1 or CO_B rGPS Rx,Ry if PolarR(xx-Rx,yy-Ry) <= RobotSize+2 or CO_B //flash a beacon on the robot circle Rx-3,Ry-3,Rx+3,Ry+3,BcnClr,BcnClr //on delay 60 circle Rx-3,Ry-3,Rx+3,Ry+3,white,white //off delay 40 return endif endif Obstructed = false Return //============================================================= //============================================================= //--- Subroutine DockWithCharger //--- Inputs : NodesCount,ChargeDelay
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//--- Outputs : none //--- Calls To: MoveToRoom //--//--- makes the robot move to the charge room. Once there it //--- turns around and docks with the charging station with //--- its back. It keeps turning until the robot s heading is //--- definitely north. //------------------------------------------------------------DockWithCharger: GoalNode = NodesCount-1 gosub MoveToRoom while true dA = -rCompass() if dA = 0 then break if dA > 180 then dA = 360-dA if dA < -180 then dA = 360+dA rTurn dA wend while not (rBumper()&1) rForward -1 wend delay ChargeDelay rCharge 100 Return //=============================================================
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You do not need gyroscopes or much mathematics if you have a very good encoder system on the robot s wheels that accurately records the amount the robot has moved and turned. This would result in a simpler INS that relies only on encoding the amount of turns on each of the wheels of the robot. We will do this in this section, however, we will not be able to do this simulation if there is any slip. Similarly, in the real world we would need accurate wheel encoders to minimize slip to near zero if we wished to use this method for keeping track of our robot s location. Also there are electronic 3-axis accelerometers that can be used in a similar fashion to the 3-axis gyroscopes mentioned above. See Sec. 15.4 for other ideas on how to counteract slip using this method. Figure 15.13 has two new subroutines ForwardRobot and TurnRobot that do the work of moving the robot and maintaining the simulated INS parameters. The PlaceRobot routine is a replacement for the one in Fig. 15.5. It has a few extra lines to initialize the simulated INS parameters. DockWithCharger and GotoPoint are replacements for the ones in Fig. 15.12. These new routines now use the INS rather than rCompass() and rGPS. Do not forget to set the variable SlipValue to zero. Note that the subroutine CheckObstacles (Fig. 15.12) uses the GPS to nd the distance from the mouse pointer to the robot. This is only to simulate obstacles in the robots way. Using the GPS in this routine can still be done because it does not impact real-life movement or position determination and therefore does not need to be changed.
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//============================================================= //--- Subroutine PlaceRobot //--- Inputs : BcnClr,LnClr,RobotSize,SlipValue,NodesCount //--- Outputs : RobotNode,RobotX,RobotY,RobotHeading //--- Calls To: none //------------------------------------------------------------PlaceRobot: rLocate 558,565,0,RobotSize rInvisible LnClr rSlip SlipValue rIgnoreCharge false RobotNode = NodesCount-1 RobotX = 558 RobotY = 565 RobotHeading = 0 Return //============================================================= //============================================================= //--- Subroutine GotoPoint //--- Inputs : x,y //--- Outputs : none //--- Calls To: CheckObstacles, ForwardRobot, TurnRobot //--//--- this routine turns the robot towards the location x,y //--- and then moves the robot there. If there is an object //--- in the way it continues to wait until the obstacle moves //--- away then resumes moving towards the point. It also uses //--- the new subroutines ForwardRobot and TurnRobot inplace //--- of rForward and rTurn to maintain an INS position. //------------------------------------------------------------GotoPoint: dx = x-RobotX dy = y-RobotY if dx=0 AND dy = 0 then return Theta = PolarA(dx,dy)*180/pi()+90-RobotHeading if Theta > 180 then Theta = Theta-360 if Theta < -180 Then Theta = Theta+360 TurnAmount = Theta gosub TurnRobot for i=1 to round(PolarR(dx,dy)) gosub CheckObstacles if not Obstructed ForwardAmount = 1 gosub ForwardRobot else i = i-1 endif next Return //============================================================= //============================================================= //--- Subroutine DockWithCharger //--- Inputs : NodesCount,ChargeDelay //--- Outputs : none //--- Calls To: MoveToRoom, ForwardRobot, TurnRobot //--//--- makes the robot move to the charge room. Once there it //--- turns around and docks with the charging station with //--- its back. It keeps looping to ensure a North heading //--- Also it uses ForwardRobot and TurnRobot inplace of //--- rForward and rTurn to maintain an INS position //-------------------------------------------------------------
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