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ELSEIF bData(0) = 36 THEN GOSUB rSpeed ELSEIF bData(0) = 66 THEN GOSUB rGPS ELSE GOSUB NotRecognized ENDIF SEROUT SendPin,84,[STR bBuffer\5] 'Send back 5 bytes 'to RobotBASIC LOOP END '============================================================= '============================================================= rLocate: ' this routine initializes the sensor buffer so that ' the functions rBumper, rFeel, and rSense will ' work properly even if no movement has been made GOSUB ReadSensors RETURN '============================================================= rForward: ' DEBUG "rForward ",DEC bData(1),CR ' move the number of units specified ' by the variable bData(1) FOR T = 1 TO bData(1) ' This code moves the robot about ' 1/4 inch IF Direction = 1 THEN PULSOUT 12,775 PULSOUT 13,725 ELSE PULSOUT 12,725 PULSOUT 13,775 ENDIF PAUSE 10 NEXT GOSUB ReadSensors RETURN '============================================================= rTurn: ' DEBUG "rTurn ",DEC bData(1),CR ' This subroutine will turn ' the number of units specified ' by the variable bData(1) IF Direction = 1 THEN Direction = 30 FOR T = 1 TO bData(1) ' The following code turns the ' robot about 1 degrees PULSOUT 12,735+Direction PULSOUT 13,735+Direction PAUSE 10 NEXT GOSUB ReadSensors RETURN '============================================================= rCompass: ' place code here to read the compass sensor ' and place the appropriate data in bytes 3 & 4 ' of the buffer (see below)
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FIGURE 17.21
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GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rLook: ' place code here to read the camera sensor ' and place the appropriate data in bytes 3 & 4 ' of the buffer (see below) GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rBeacon: ' place code here to read the beacon sensor ' and place the appropriate data in bytes 3 & 4 ' of the buffer (see below) GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rRange: ' place code here to read the ultrasonic sensor ' and place the appropriate data in bytes 3 & 4 ' of the buffer (see below) GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rPen: ' place code here to lift or lower the pen based on ' the value of bData(1) GOSUB ReadSensors RETURN '============================================================= rGPS: ' place code here to read the GPS sensor and place ' data in the buffer (not the zero's shown below) bBuffer(0) = 0 bBuffer(1) = 0 bBuffer(2) = 0 bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rSpeed: ' place code here to control the speed of robot ' for example, a value to control pulse width ' bData(1) holds the parameter from RobotBASIC GOSUB ReadSensors RETURN '============================================================= NotRecognized: DEBUG "Not A Command ",DEC bData(0)," ",DEC bData(1),CR bBuffer(0) = 255 'set all returned values to -1 bBuffer(1) = 255 bBuffer(2) = 255
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FIGURE 17.21
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bBuffer(3) = 255 bBuffer(4) = 255 RETURN '============================================================= ReadSensors: ' place code here to read bumpers and infrared sensors ' example code is given for Parallax line sensors 'read bumper sensors 'none for now bBuffer(0) = 0 'read infrared sensors 'none for now bBuffer(1) = 0 'read line sensors Right: HIGH 7: PAUSE 1: SENSORS.BIT0 = IN4: INPUT 7 Center: HIGH 8: PAUSE 1: SENSORS.BIT1 = IN4: INPUT 8 Left: HIGH 9: PAUSE 1: SENSORS.BIT2 = IN4: INPUT 9 bBuffer(2) = SENSORS 'set the last two bytes to zero bBuffer(3) = 0 bBuffer(4) = 0 RETURN '=============================================================
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FIGURE 17.21
(Continued )
respond very well, even if your real robot is not capable of moving as accurately as the simulation. Imagine the power! You don t have to translate any programs. You don t have to download anything to the physical robot. You don t even need a connection between the PC running RobotBASIC and your robot. You just change one line and your robot immediately responds to your algorithm. And if you nd a situation that needs a more advanced algorithm, just comment out the rCommPort statement (or set the port number to 0) and use the simulator and all its debugging features to develop your improvements then try it again for real. This power and ease of use gives hobbyists capabilities never even dreamt of only a short time ago. We have tried to provide support for all the commands we expect most hobbyists would want on a real-world robot. If your project needs additional commands, you can use the SerIn and SerOut statements discussed earlier to meet your needs.
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