vb.net barcode scan event if Char(k) and not(rBumper() & 4) then rForward 1 in Software

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if Char(k) and not(rBumper() & 4) then rForward 1
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Calling functions is a little slower than accessing a variable. We would be calling functions eight times, each time we loop, if we use the function in each statement directly. It is important to realize that we can only use the stored data because the robot is not moving after the rBumper() statement is executed. Lines 12 to 15 use if-statements to determine what key was pressed and execute the right action. Line 11 gets the state of the bumpers using rBumper() as in Chap. 3. We use this value (B) to test to see if the front bumper (Line 12) or the back bumper (Line 13) is pressed before moving forward or backward, respectively. You will learn more about this action in Chap. 5. In this chapter just accept that the statement not(B & 4) means that the front bumper is not pressed and not(B & 1) means the back bumper is not pressed [remember B = rBumper()].
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rectangle 300,300,500,500,red,red circle 100,100,200,200,blue,blue circle 600,500,700,550,magenta,magenta rectangle 0,0,130,22,blue,blue rlocate 400,200,270 //--style 1 while true XYString 2,2,rGpsX(),",",rGpsY(),",",rCompass()," " waitkey "Press l,r,f, or b", k C = char(k) B = rBumper() if (C="f" or C= F ) and not(B & 4) then rForward 1 if (C="b" or C= B ) and not(B & 1) then rForward -1 if (C="l" or C= L ) then rTurn -1 if (C="r" or C= R ) then rTurn 1 wend End
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FIGURE 4.1 First style of remote control.
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In Line 08 the robot s position and heading are displayed. Notice the use of the commas to make the display look nice. The box around the text was drawn on Line 04. The box is needed to stop the robot from going into the text area. 4.2.2 SECOND STYLE OF REMOTE CONTROL In this style we do similar actions as in the previous program. The difference is that we don t wait for the user to press a key. The algorithm was designed so that the last key pressed is saved and used to make the robot move continuously until the user presses another key. If the new key pressed is the same as the last one then the last movement is turned off. If it is a different command then the new command will be executed. The new algorithm is shown in Fig. 4.2 (do not type the line numbers). In Line 07 the variable LC is initialized to 0. This variable will hold the value of the last command issued. In Lines 11 to 15 we check if a key is pressed, and if so, we check if it is the same as the last one pressed. If it is then we make it 0 to cancel the last command. The new command is then stored in LC. Notice Line 16, the LC value is converted in place of k as in Fig. 4.1. This (and the use of GetKey instead of WaitKey) is what makes the program continue doing the last command until the same key or a new key is pressed. To summarize, Lines 07 and 10 to 16 make the program continue to execute the last command until a new one or the same one is issued. This makes the command style a toggle action. The rest of the program is similar to the one in Fig. 4.1. The delay of 200 milliseconds in Line 14 is necessary to give the user time to release the button before the program checks again for a button press. Without this delay the user may not have time to release the button before the next check and the program will consider that the user has pushed the button again. Without this delay it would be very dif cult for the user to signal the program correctly. Try removing (or commenting out) Line 15 and see what happens.
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01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 rectangle 300,300,500,500,red,red circle 100,100,200,200,blue,blue circle 600,500,700,550,magenta,magenta rectangle 0,0,130,22,blue,blue rlocate 400,200,270 //---style 2 LC = 0 while true XYString 2,2,rGpsX(),",",rGpsY(),",",rCompass()," " getkey k if k <> 0 if k = LC then k = 0 LC = k Delay 200 endif C = char(LC) B = rBumper() if (C="f" or C= F ) and not(B & 4) then rForward 1 if (C="b" or C= B ) and not(B & 1) then rForward -1 if (C="l" or C= L ) then rTurn -1 if (C="r" or C= R ) then rTurn 1 wend End
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