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To tell RobotBASIC to use the serial communications protocol rather than the simulator, use the command rCommPort (see below) to make all subsequent commands and functions use the protocol in place of the simulator. The commands and functions will cause RobotBASIC to send 2 bytes where the rst byte is a code for the command and the next byte is the parameter for the command. The receiving microcontroller on the physical robot can make use of these bytes and must respond within the time-out limit (see SetTimeOut above) by sending 5 bytes to be received by RobotBASIC. The rst 3 bytes are the status of the bumpers, infrared sensors, and line sensors (in this order). The last 2 bytes are the returned values relating to the function/command. The order is MSB rst. The rst byte is the most signi cant byte (MSB) of the number. (rGPS is the exception to the 5-byte rule, see below). The values received in the rst 3 bytes of the 5 bytes are used to update the status of the bumper, infrared, and line sensors. These values will be used by the functions rBumper(), rFeel(), and rSense(). This means that these functions will still work in the same way as in the simulated situation but instead of returning the values read by the simulated robot off the screen they will return the real physical values received by the protocol from real sensors on the physical robot. The values can be used in exactly the same manner as before (as described in the robot simulator help page). rCommPort ExprN1 {,ExprN2 {,ExprN2 {,ExprN3 {,ExprN4 {,ExprN5}}}}} This command is exactly the same as the SetCommPort command (Sec. D.2). It sets the comm port number and parameters and opens the comm port for communications. However, it also signals a ag that makes the simulator use the comm port speci ed in place of the screen. To return to using the screen, issue the command again with 0 as the comm port number. rLocate ExprN1,ExprN2 (code 3) You still need to issue this command before using the protocol just as in the simulator. This command initializes the real robot and starts the command process. No use is made of the second (and the others if you happen to be using them) parameters but they need to still be there because the command is the same as in the simulated one but does not use the numbers when the protocol is active. This means that you do not need to change your simulator program to make it work with the protocol. The protocol sends 2 bytes 03 and ExprN1. It will expect to receive 5 bytes where the rst three are as described above. The last two are not used. rForward ExprN (code 6 or 7) This command will send 2 bytes 6 (or 7) and Abs(ExprN). The code 6 is for going forward and 7 is for going backward. ExprN is the distance required if it is positive then code 6 is sent and if it is negative then it is made positive and code 7 is sent. The received data contains 5 bytes but only the rst 3 are used. They are in the order described above for the status of the sensors. rTurn ExprN (code 12 or 13) This command will send 2 bytes 12 (or 13) and Abs(ExprN). The code 12 is for turning right and 13 is for turning left. ExprN is the required degrees, if positive then code 12 is sent and if negative then the number is made positive and code 13 is sent. If you specify a number greater than 180 then the turn is
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