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APPENDICES
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Scienti c notation. If any of the strings E+, E , e+, or e are contained in the format string, the number is formatted using scienti c notation. A group of up to four 0 characters can immediately follow the E+, E , e+, or e to determine the minimum number of digits in the exponent. The E+ and e+ formats cause a plus sign to be output for positive exponents and a minus sign to be output for negative exponents. The E and e formats output a sign character only for negative exponents.
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Characters enclosed in single or double quotes are output asis, and do not affect formatting. Separates sections for positive, negative, and zero numbers in the format string. The locations of the leftmost 0 before the decimal point in the format string and the rightmost 0 after the decimal point in the format string determine the range of digits that are always present in the output string. The number being formatted is always rounded to as many decimal places as there are digit placeholders ( 0 or # ) to the right of the decimal point. If the format string contains no decimal point, the value being formatted is rounded to the nearest whole number. If the number being formatted has more digits to the left of the decimal separator than there are digit placeholders to the left of the . character in the format string, the extra digits are displayed before the rst digit placeholder. To allow different formats for positive, negative, and zero values, the format string can contain between one and three sections separated by semicolons. One section: Two sections: Three sections: The format string applies to all values. The rst section applies to positive values and zeros, and the second section applies to negative values. The rst section applies to positive values, the second applies to negative values, and the third applies to zeros.
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If the section for negative values or the section for zero values is empty, that is if there is nothing between the semicolons that delimit the section, the section for positive values is used instead.
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C.9 The Robot Simulator Commands and Functions
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The robot simulator is a set of commands and functions that allow for easy programming of a robot to move around a simulated environment. The environment is drawn on the screen using the drawing commands and functions (see Sec. C.7). The robot is then located in the environment and is made to programmatically move, turn, and sense around the screen. C.9.1 GENERAL INFORMATION The Robot comes with sensors to feel around, look for objects, and sense for lines on the ground. The view on the screen is as if you are looking at the robot and the environment
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COMMANDS, FUNCTIONS, AND OTHER DETAILS
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from above. Objects drawn with LineTo, Rectangle, Circle and other commands will have colors and can be considered as furniture or other objects and obstacles. Additionally, you can draw lines on the oor and have the robot sense for them and follow them with the correct combination of commands. To use the robot you must rst rLocate it on the screen. Make sure the environmentdrawing commands are done rst. Once the robot is located you can issue commands to rForward and rTurn it. Also, the robot can rSense, rLook, and/or rFeel around the environment to avoid objects. Since the environment is two-dimensional, you must specify any colors to be considered invisible to the robot and therefore nonobstacles. Any color on the screen that is not in the list of invisible colors will be considered an obstacle when encountered by the robot while moving around (except for the oor color). If you change the color of the oor, you must do so before locating the robot and then locate the robot on the new oor (see rFloorColor). You specify invisible colors with the rInvisible command. The robot cannot be located or moved off the screen. The screen boundaries are the walls of a room. The robot will not move forward into an object. Any attempt to do so will cause an error. No sensor commands can sense beyond the walls. The robot has a battery that discharges upon using the commands to move and sense. Moving depletes more charge than sensing. The battery level can be checked and can be recharged. The robot will refuse to move and will return nonsense values from the sensors if the battery is depleted. The default is to ignore the battery charge level but you can use a command to make the robot heed the charge level. Throughout the next two sections there will be reference to the following items:
ExprN implies that a numeric resulting expression is required. {Expr} or {Var} implies that it is optional and {Expr...} means many can be given. Var implies that a variable name must be given.
If a Var is expected in any of the commands, then if Var exists it will be replaced with the result otherwise it will be created and assigned the result.
The robot simulator commands and functions are not case sensitive, so rLocate, RLOCATE, and rlocate a re all the same.
C.9.2 SIMULATOR COMMANDS In the following list the commands are arranged in order of functionality rather than alphabetically. See later for an alphabetic order.
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