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Functions with a * have additional functionality as explained in App. D.
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rChargeLevel()
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rPoints() The robot keeps a count of the number of times its sensors and motors (rTurn, rForward) are used. This point value can be used as a measure of the ef ciency of an algorithm to complete a task in the minimum possible points. This function returns the current count value. rGpsX() rGpsY() Returns the robot s current x position. Returns the robot s current y position.
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*rCompass() Returns the robot s current heading. 0 359 0= north. *rLook() *rLook(ExprN) Returns the rst color seen directly in front of the robot. If the walls are seen before any object then 1 is returned. Colors on the invisible colors list are ignored. If ExprN is given then it is an angle relative to the robot s heading. ExprN must be between 180 and +180. Positive is to the right of the robot, negative is to the left of the robot. The pivoting center is the center of the robot. Specifying an angle places the camera at any angle relative to the robot s heading pivoted on the robot s center. With this sensor you can look at objects relative to the robot s heading 180 to the right (+180) up to 180 to the left ( 180) at intervals of 1 . *rRange() *rRange(ExprN) Returns the distance to the rst color seen directly in front of the robot. If the walls are seen before any object then the distance to the wall is returned. Colors on the invisible colors list are ignored. If ExprN is given then it is an angle relative to the robot s heading. ExprN must be between 90 and +90. Positive is to the right of the robot, negative is to the left of the robot. Pivoting is about the front of the robot not the center of the robot. The ranger is tted on the front point of the robot and pivots 90 left and right centered on this point. Specifying an angle places the range nder at any angle relative to the robot s heading. With this sensor you can measure distances relative to the front of the robot from 90 to the right (+90) up to 90 to the left ( 90) at intervals of 1 . *rBeacon(ExprN) Returns the distance to the speci ed color (ExprN) if it is in front of the robot, even if that color is blocked by other objects between the robot and the color. It returns 0 otherwise. This is useful for detecting of a ashing beacon mounted above obstacles in the room. The command looks for any color speci ed. It does not ignore colors on the invisible
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APPENDICES
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colors list. The result can be treated as true/false (false = 0, true = otherwise) or you can use the number returned if it is not zero as the distance to the color speci ed. *rFeel() *rDFeel({ExprN}) Returns a number 0 to 31 according to the following logic: There are ve infrared sensors around the robot. At 90 and 45 to the left and right of the robot and directly in the front. The sensors are able to feel any object within a robot s radius ahead of the sensor (ignoring invisible colors). The number returned is a bitmap of the condition of the sensors. If any of the sensors feels something then its bit position is set to 1, otherwise 0. So there are 5 bits MSB...LSB 00000. The most signi cant bit (MSB) is the sensor 90 to the left, then 45 then 0 then 45 to the right, and the least signi cant (LSB) bit is 90 to the right. So if the number is 01110 (14) then the sensors in front and 45 right and left are feeling objects and the rest do not. Use bitwise operators (bAND, bOR, etc) to manipulate the result. Colors on the invisible colors list are not considered objects. The difference between rFeel() and rDFeel({ExprN}) is that rDFeel({ExprN}) will draw radials out from the sensors to show the range of feel of the sensors using the color speci ed in ExprN. If you do not specify ExprN then the second color on the invisible colors list will be used. This is a useful feature for debugging the rFeel() results. Do not use rDFeel({ExprN}) unless you need to debug since it is signi cantly slower than rFeel(). You must specify ExprN or have a valid color (not a oor color) in the second position in the invisible colors list. The radial lines will be drawn using this ExprN color or the second color on the invisible colors list other wise the beams will not be visible. *rBumper() *rDBumper({ExprN}) Returns a number 0 to 15 according to the following logic: There are four bumpers around the robot. At the front covering an arc of 130 that is, from 65 to the left to 65 to the right. There is also a bumper at the back just like the one in front, that is, from 115 to 245 . To the left and to the right there are bumpers that cover an arc of 50 , that is, from 65 to 115 on the right and from 65 to 115 on the left. The bumpers will close (turn on) if there is any object within 2 pixels of the robot s perimeter (ignores invisible colors). The number returned is a bit map of the condition of the bumpers. If any of the bumpers is closed then its bit position is set to 1, otherwise 0. So there 4 bits MSB...LSB 0000. The least signi cant bit is the back bumper, then the right, front and then the left one. If the number is 1110 (14) then the right, front and left bumpers are closed while the rear one is not. Use bitwise operators (bAND, bOR, etc) to manipulate the result. oor/line/beacon colors are ignored. The difference between rBumper() and rDBumper({ExprN}) is that rDBumper({ExprN}) will light up an LED where the bumper is touching objects using the ExprN color or the second color on the invisible colors list. If no color is speci ed with ExprN then the second color on the invisible colors list will be used. If that is not speci ed then the color will be the oor color and the beacon may not be visible. This is a useful feature for debugging the rBumper() result. Do not use rDBumper({ExprN}) unless you are debugging since it is signi cantly slower than rBumper().
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