vb.net barcode scan event DEBUGGING in Software

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DEBUGGING
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If you are familiar with the break-point system used by other language debuggers, you will nd that this method, while unfamiliar at rst, can be a better alternative for debugging a robotic algorithm.
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6.4.3 VIEWING THE INFRARED BEAMS Because of the blind spots inherently associated with infrared sensors, RobotBASIC has a special feature to aid with their debugging. If you replace each occurrence of rFeel() in a section of code you wish to analyze, with rDFeel(red) you will see a very versatile feature when the program is run. Each time the sensors are read by rDFeel(color) the robot will display the area being observed by the infrared sensors using beams of a color speci ed by the value color. If you do not pass the function a color by saying rDFeel() (notice no color is speci ed) then the second color on the list of colors given to the rInvisible command will be used. This feature allows you to easily see where the blind spots are and helps you make better decisions when you are designing a new algorithm. If you have not speci ed an invisible colors set then you must use rDFeel(color) not rDFeel().
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6.4.4 VIEWING BUMPER LEDS If you use rDBumper(color) in place of rBumper() while trying to debug a program, you will see the robot illuminate an LED in the vicinity of where the bumper was touched by an object. This LED will have the color speci ed by the value color. This feature can help in visualizing where crashes are occurring. As in the rDFeel (color) function you need to specify the color. If you do not specify a color the function will use the second color passed to the rInvisible command. If you have not speci ed an invisible colors set then you must use rDBumper (color) not rDBumper().
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6.5 Summary
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In the chapters that follow you will see other ways to use the debug features of RobotBASIC. In this chapter you have: Been introduced to the basic principles of debugging. Learned how to use the Debug statement to step through a program while displaying the value of variables and/or sensor data. Learned how to turn the debug feature on and off while the program is executing. Learned how rDFeel (color) and rDBumper (color) can help visualize where objects are causing problems while the robot is moving around its environment. Now, try to do the exercises in the next section.
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BUILDING BLOCKS
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6.6 Exercises
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1. Add the debug features discussed in this chapter to the random roaming programs
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discussed in Chap. 5. It is not necessary that you nd any real faults. The goal is to understand how to use the features. Later chapters will help you develop your debugging skills. 2. In the programs of Exercise 1, try to draw objects that will cause collisions or other problems and use the debug system to nd out exactly why the errors occur. Make corrections if you can. Later chapters will offer more opportunities for more intricate debugging.
PA R T
DEVELOPING A TOOLBOX OF BEHAVIORS
In Part 2 we develop a toolbox of utility programs. The programs impart the robot with a collection of behaviors that enable it to handle speci c tasks. Each chapter focuses on a single behavior, evolving algorithms that can work in a variety of situations of increasing complexity. In Part 3 we will utilize combinations of these behaviors to create solutions to real-world problems. We build on the programming skills developed in Part 1 by utilizing new commands and functions from the language as well as show how to use arrays to manipulate data more ef ciently. Additional robot commands and functions are introduced along with more sophisticated interrogation and manipulation of the standard sensors on the robot. We also utilize customizable sensors to handle more demanding situations and show how to use advanced features of the standard sensors. Upon completing Part 2 you will be able to: Create complicated programs and employ advanced programming techniques. Utilize all the sensors on the robot and analyze their data more intricately. Utilize arrays and array commands and functions along with looping constructs to manipulate large amounts of data. Improve on the behaviors introduced in this part as well as create new ones of your own. Appreciate the advantages of using RobotBASIC as a research and development tool so as to minimize abortive efforts in a real-world project.
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