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them. This paradigm shift enabled innovative hobbyists and entrepreneurs to create word processors, spreadsheets, and graphical user interfaces (GUIs) that changed the world. The world of hobby robotics is now entering such an era. Today s robot enthusiasts no longer need a degree in electronics and a machine shop in their garage to create robots that are ready to be programmed. They do, however, need to understand programming, because it is software that truly creates a useful robot. Sophisticated kits and fully assembled robots are available from many vendors. Numerous companies offer off-the-shelf hardware modules that enable a typical hobbyist to assemble a custom robot with capabilities that were only a dream a few years ago. A hobbyist that understands the concepts of robot programming can use these new platforms to create the projects robot builders have been seeking for years. Unfortunately learning to program a robot can be very frustrating, even if you have the appropriate hardware. Sensors often need adjusting and realigning and batteries always seem to need recharging. When the robot fails to respond properly you run the risk of damaging it or even your home or furniture. Because you can t see why the robot is failing, the task of debugging the code can often be exasperating. With the world of robotics entering its new era, there has to be a better way for hobbyists to learn about programming their machines. This book is aimed at the new hobbyist who is interested in programming robots. Today there are numerous microcontrollers that can be used to control robots. These controllers can be programmed using a variety of programming languages (Assembly, C, BASIC, and others). This lack of homogeneity in hardware and software tools make it hard to learn how to program a robot, even if you have previous programming experience. In reality, the details of the implementation using a speci c combination of software and hardware are of secondary concern. What is important in programming a robot to do useful tasks is the algorithm that achieves the desired logic. Once the algorithm is determined it can be easily translated into any programming language to work on any appropriate microcontroller. RobotBASIC is a full-featured, interpreted programming language with an integrated robot simulator that can be used to prototype projects. The simulator allows you to research various combinations of sensors and environments. You can change the types and arrangements of sensors in seconds, making it possible to experiment with numerous software ideas. You can test your algorithms in environments that would be impractical to create in real life. The simulated mobile robot is two-dimensional, but programming it lets you learn how to use all the sensors you would expect to nd installed on robots costing hundreds if not thousands of dollars. And you will soon discover that programming the simulation is so much like programming the real thing (less all the frustrating aspects) that you will soon forget it is just a circle moving on your screen. RobotBASIC has capabilities far beyond the robot simulator. It is a powerful programming language with functions that support graphics, animation, advanced mathematics, and access to everything from I/O ports to Bluetooth communication so that you can even use it to control a real-world robot if you choose. When you learn about robot programming with RobotBASIC you won t have to spend months building a robot. You will be able to start programming immediately and never have to worry
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about charging batteries or damaging furniture, although you can simulate those events too. The book is divided into four parts. Part 1 explores the advantages of using a simulator and teaches how to use the simulated robot and its sensors. It also introduces the RobotBASIC language and programming concepts in general. By the time you nish Part 1, you will be able to write and debug simple programs that move the robot around a simulated environment while avoiding objects that block its path. Part 2 examines everything you typically nd hobbyists doing at robot clubs. You will learn ways to make the robot follow a line on the oor, hug a wall, or stay away from a drop-off such as a stairway. All of these topics (and more) are examined with simple easy-to-understand approaches. The simulation is then used to expose problems and de ciencies with the initial approaches. New and better algorithms are then developed and explained. Learning about robotics using this building blocks approach can be very motivational because it is exciting and relevant. As you proceed through the book you will gain more knowledge about programming and problem solving principles. This makes RobotBASIC an ideal rst language for teaching students about programming, mathematics, logical thinking, and robotics. The chapters in Part 3 combine the behaviors developed in Part 2 into compound complex behaviors, that enable the robot to solve real-world projects such as charging the robot s battery, mowing a lawn, solving a maze, locating a goal, and negotiating a home or of ce environment. As in Part 2, the projects are rst explored with simple approaches before introducing more complex concepts. The advanced reader will nd this part of the book interesting because many behaviors are evolved using mathematics and computer science topics. Part 4 explores advanced topics such as adaptive behavior and how RobotBASIC programs can be used to control real-world robots using wireless links. Additionally, ideas are forwarded for why RobotBASIC can be useful in robotic contests and as a teaching tool in the classroom. The RobotBASIC program along with all the programs in this book can be downloaded from www.RobotBASIC.com. The language is subject to change as alterations and upgrades are implemented. The help les accessible from the latest IDE will have the most valid up-to-date descriptions of all the functionalities of the language. Make sure to always download the latest version and to consult the help les for any new and modi ed features. Also make sure to check the site for:
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Updated listings of all the programs in the book. Solutions for some of the exercises in the book. Any corrections to errors that may have slipped into the book. Other information and news.
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