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6.3.3 CORRECTING THE PROBLEM How you correct the problem depends on its nature. Sometimes correcting a typing error is all that is necessary. At other times you may have to admit that your initial plan or algorithm was inadequate for the situation. In such cases, the information you obtained during the debugging phase will help you formulate a better algorithm. 6.3.4 PATIENCE PATIENCE PATIENCE Debugging can often take much longer than you might expect sometimes much longer than the initial writing of the code; just be patient. The insight gained during debugging is valuable not only for correcting errors in this program, but also in developing this and other programs further and even in improving your problem-solving skills in general. As you gain experience, you will discover that time spent in a careful and systematic design process as well as meticulous coding can save many hours of debugging.
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6.4 Debugging with RobotBASIC
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You can debug programs with Print-statements as discussed in the previous section, but RobotBASIC offers alternatives that are far more ef cient. There are several techniques available to you, some of which are similar to those in other languages and some that are unique. Consider again the random roaming subroutine from Chap. 5 (Fig. 5.7). It is shown here in Fig. 6.1 with a Debug statement inserted that will be discussed later. The code shown in Fig. 6.1 works in most situations, but there are environmental conditions that can cause it to fail. The problem is that the infrared sensors that feel around the robot have blind spots as discussed in Chap. 3. If the objects drawn to test the subroutine are really small or have very sharp points, the potential for a fault exists. When the robot approaches such an object the point may slip between the sensor detection areas and cause a collision before it can be detected.
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RoamAround: while true // forward until an object is found while rFeel( )=0 rForward 1 Debug "An object was detected ", rFeel() wend // try to intelligently turn away from the object if rFeel()&3 then Ta = -45 // object on right,turn left if rFeel()&24 then Ta = 45 // object on left,turn right if rFeel()=4 then Ta = 160 // object infront,turn around // turn Ta degrees plus or minus 20 degrees rTurn Ta+random(40)*sign(Ta) wend Return
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FIGURE 6.1 This subroutine moves the robot randomly around the screen (see Chap. 5 for the complete program).
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If this problem occurs during the process of developing a program, you may be puzzled as to why the robot collides with objects that you believe should have been detected by the code. This could certainly be true if you were unfamiliar with the blind spots associated with infrared sensors. If you could obtain the value of the sensors immediately before, during, and after the collision you would have the data needed to discover the problem. 6.4.1 THE Debug COMMAND In RobotBASIC there is a special form of the Print-statement called Debug. This command can be used just like a Print-statement, but it differs in several important ways. Instead of printing on the terminal screen like the Print-statement, the Debug-statement prints in a special window that opens the rst time it is used. However, it does not just print, it also causes the program to pause execution so that you can see what the robot is doing to cause the data being displayed. Insert the following statement right after the rst wend in Fig. 6.1 (comment out the other debug statement already there):
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Debug An object was detected , rFeel()
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You also need to place the statement DebugON at the beginning of the main program. When the program is run (and you draw some objects) the program will stop and the debug window will appear when an object is encountered and show a screen similar to Fig. 6.2. The fact that the program stops is important. It gives you the opportunity to analyze the robot s situation at the instant the Debug-statement was executed.
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