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why and when the robot has to move, but it delegates the details of actually making the move to the robot itself. Think of a manager and her secretary. The manager tells the secretary to type a letter, but does not care how the task is accomplished. She does not care which word-processor program the secretary uses nor does she know the details of how the secretary prints the letter. All the manager cares about is that the command of printing a letter is achieved. The secretary on the other hand does not care why the manager needed the letter printed. The secretary however, has to be able to type the letter and print it using the available equipment. Together the manager and secretary can achieve a lot more than either could alone. A similar cooperation as above can be achieved by combining the PC and microcontroller. The task of the hardware-level control is performed by a microcontroller mounted on the physical robot. The microcontroller s program recognizes the commands given to it by the manager (the PC) and decides on what motors to activate and so on, to carry out the requested task. The actions taken by the controller will depend on the types of motors being used and how they are connected to the controller. The motors could simply be turned on for some period of time or the duration might depend on the data obtained from wheel counters or an electronic compass. These low-level tasks are the responsibility of the robot s controller and are concealed from the managing PC. Remember though, that these tasks are all simple ones. The controller program has no decision-making ability as to why it should move. This way the controller program can be simple. If the number of sensors and devices to be handled exceeds the capacity of the controller you can use multiple controllers, as mentioned earlier. There are many inexpensive microcontrollers available, so using this option is not prohibitive, and in some cases can be more effective than using individual electronic components. The PC takes the role of the high-level manager that decides why a move is needed, but never has to worry about the details of how it is made. RobotBASIC (version 2.0.1 and up) provides commands that allow you to use wireless communication devices such as a Bluetooth transceiver connected to a USB port. The commands allow you to send and receive data between RobotBASIC and any device that can communicate serially (wireless or wired). Using the serial commands you can control a microcontroller by sending command sequences that specify motor movements or request data from a speci ed sensor. RobotBASIC can provide all the communications required by the PC end of the link with its SerIn and SerOut commands. Refer to App. D and the help les for more information. The robot s microcontroller must be programmed with subroutines that enable control of actuators (motors) and interrogation of transducers (sensors). The main body of the microcontroller program sits in a loop listening for commands from the PC via a wireless serial communications medium. When the PC sends a valid command the controller s main program deciphers that command and calls the appropriate subroutine to carry out the actual work. Some commands may require that the controller send some data back to the PC. The controller program sends this data and then repeats the entire process of waiting for the next command and so on (see next section and Fig. 17.21 for a speci c example). The details of how the data is sent and how many bytes to send and receive can be determined by you, if you wish, but you will need to devise a protocol to achieve this.
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