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Only one action is allowed after the then, which will be executed only if the condition is true. If the condition is false the program will skip the action after the then and proceed to the next line. The second construct can be used like this:
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Do another Do yet another And so on endif
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Notice here we do not use the then. The statements between the if and the endif will be executed if the condition is true. If the condition is false the program will skip them and go on to the statement right after the endif. Another way to use this construct is:
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In this construct the statements between the if and else will be executed if the condition is true but not the statements between the else and endif. If the condition is false the statements between the else and endif will be executed but not the ones between the if and else. You will see examples of these three constructs in programs throughout the book. Refer to Apps. B.6 and C.6 for more details and additional ways to use this construct. 3.1.3 COMPARISON OPERATORS In RobotBASIC you can compare if something is greater than another ( ), is equal to another ( ), is less than another ( ), if it is less than or equal to another ( ), if it is greater than or equal to another ( ), and nally if it is not equal to another ( ). All these operations are achieved with comparison operators. In the above section we test for conditions using these operators. See Sec. B.7.5 for further details. 3.1.4 LOOPS It is often necessary to repeat a section of code a certain number of times or while a certain condition is true. We will discuss these looping constructs in detail in Chap. 4. In this chapter we will use this construct in a simple way. The for-next and while-wend looping constructs are used here to move the robot forward a xed number of steps in the rst example and while it is not bumping into objects in the second example. For now, study the use of these constructs in the light of the programs given. 3.1.5 BINARY NUMBERS In order to understand how most of the sensory data is organized you will need a basic knowledge of binary numbers.
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24 1 = 16 1 = 16 23 1 = 8 1 = 8 22 0 = 4 0 = 0 21 0 = 2 0 = 0 20 1 = 1 1 = 1 (LSB-Least Significant Bit) 25
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FIGURE 3.1 The value for each digit in a binary number is a power of 2.
In a decimal number like 234 the convention is that the rst digit (going right to left) is the ones digit, the second is the tens digit, the third is the hundreds digit, and so on (1000, 10000, etc.). You will notice this is the same as saying 1, 10, 10 10, 10 10 10, and so on or in more mathematical language 100, 101, 102, 103, and so on. So the number 234 can be understood to mean 2 102 3 101 4 100 200 30 4 234. Notice that we have ten digits 0 to 9. We do not have a symbol for ten. Since ten is 10, that is 1 in the 101 place and 0 in the 100 place which means 1 10 0 1 10 0 10. The decimal system is referred to as base-10. Computers are made up of switches that can be either on or off. We can represent the on state by a 1 and the off state by a 0. This means that computers are binary systems (binary means two). This means that there are only two possible numbers 0 and 1. Just as each digit in a base-10 number is based on ten raised to a power, a binary or base-2 system is based on two raised to a power. So the number 1010 in base-2 is 1 23 0 22 1 21 0 20 1 8 0 4 1 2 0 1 10 (in base-10). The binary (base-2) system is how numbers are represented in computers. If we put a set of ve switches in a row we can represent numbers from 0 to 31. The maximum value of the number can be made up of the sum of the numbers 16, 8, 4, 2, and 1. Look at the example 5-bit binary number (11001) in Fig. 3.1. Only three positions in the original number have 1 s in them. The weights of these positions are 16, 8, and 1. The sum of these weights is 25 thus 25 base-10 is the same as 11001 base-2 (the number 25 is 11001 in binary). Many of the sensors on the robot are made up of switches arranged in groups as described above. These groups can be read as numbers in base-10 or we can examine them a bit at a time. As you use the sensors available in RobotBASIC, you will see why binary numbers are important.
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