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2.6 Exercises
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1. Use Lines 01 to 03 from the program in Fig. 2.10 and then add your own lines to
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locate the robot at position (250, 250). Make the robot move all the way around the red rectangle and back to where it was but facing north-west (315 ).
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BUILDING BLOCKS
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HINT:
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Do four sets of turning 90 and forwarding 300 and then turn
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2. From where you ended up in the previous exercise, what would happen if you add
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one more line with the command rForward 100
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HINT:
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There is an obstacle in the robot s path, will it crash
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3. Create a program (no obstacles) that makes the robot move from location 100, 100
to location 300, 300, then location 500, 100 then back to 100, 100.
HINT:
Locate the robot at 100, 100 facing 135 , then forward 283, turn 90 , forward 283, turn 135 and finally forward 400. Can you explain the numbers
CHAPTER
ROBOTBASIC SENSORS
n Chap. 2 we made the robot move around the screen but we had to be careful when specifying the commands to avoid making the robot crash into walls or objects in the room. This method of making the robot move around is not very effective when: The robot must be able to function in various environments. The positions and shapes of obstacles are not known in advance. The environment changes dynamically.
The robot in RobotBASIC has a collection of sensors that enable it to feel and see its environment. Algorithms use sensors to analyze the environment and then allow the robot to take action to avoid crashing into objects and to be able to nd and locate objectives. In this chapter we will examine some of the sensors on the robot and explore how we can use data from these sensors to program effective behaviors for the robot. The objective is to introduce the standard sensors and explain how to gather information from them. Later chapters will use the sensors in simulations to do useful and interesting work and will show how to use customizable sensors.
3.1 Some Programming Constructs
Many programming constructs will be introduced throughout Part 1 as the need for them arises. These constructs are necessary to be able to create useful simulations using the Robot Simulator and the RobotBASIC language.
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BUILDING BLOCKS
In general, RobotBASIC is not case-sensitive. You can write most of the constructs in the language using any upper- and lower-case letter combinations. So IF, if, and If are all the same. There are three constructs where RobotBASIC is case sensitive. These are variable names, array names, and labels and will be made clear when we discuss them later.
NOTE:
3.1.1 COMMENTS Comments are an indispensable programming construct. They are used to annotate and document a program with information to readers of the code who may nd it hard to understand exactly what the code achieves. Comments are also used to make the code easy to scan so a reader can quickly pick out pertinent sections. Even the writer of the code may appreciate her/his own comments. When you go back to read your code, after some time has passed since you have written it, you will appreciate the fact that you have a reminder of the intent of certain sections of code with explanations of the harder to grasp aspects of the algorithm and other details. Comments are not executable code and RobotBASIC ignores them. They are there only for human readers of the code. A comment in RobotBASIC is designated as such with a // which makes any text that follows, including the // itself, a comment. You can put comments on a separate line or on a line following an executable statement. Anything on the line after the // becomes a comment. You may also want to make certain parts of your code not execute to test something or another. Rather than actually deleting the lines of code, you can comment them out by putting // before each line. If you later determine that you actually need the code simply remove the // to make the code executable again. You will see examples of comments in the programs throughout the book. (Refer to Sec. B.2 for more details.) 3.1.2 CONDITIONAL STATEMENTS It is often necessary to perform certain actions only if a condition is true. Sometimes you need to perform a set of actions if a condition is true but if it is not true perform other actions. This is achieved by using the if-then and the if-else-endif programming constructs. if-then is used when you need to do one action only if a condition is true. ifelse-endif allows you to do as many actions as needed, and also allows for doing other actions if the condition is not true. The rst construct looks like this:
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