vb.net barcode scan event FOLLOWING A LINE in Software

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FOLLOWING A LINE
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MainProgram: gosub DrawLine goSub InitializeRobot rForward 10 // move the robot over to the line goSub FollowLine End //======================================================== InitializeRobot: //-- place the robot at the beginning of the line //-- and face it left 90 degrees rLocate 200, 71, -90 rInvisible Green //-- Green is a line not an object Return //======================================================== DrawLine: linewidth 4 setcolor Green gotoxy 170,71 lineto 160,72 lineto 145,80 lineto 140,90 lineto 130,100 lineto 125,110 lineto 120,140 lineto 130,200 lineto 140,250 lineto 130,270 lineto 145,300 lineto 200,350 lineto 300,325 lineto 450,375 lineto 450,450 lineto 600,450 lineto 600,400 lineto 650,200 lineto 500,350 return //======================================================== FollowLine: //-----Line Following algorithm //--we will put code here to make the robot follow a line Return
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FIGURE 7.1a This code draws a line on the screen and places the robot at its start.
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the output screen when the program in Fig. 7.1a is run. For now FollowLine is left empty so no line following will occur.
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7.2 An Initial Algorithm
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RobotBASIC s robot has three line sensors. One is mounted directly in front of the robot, and the other two are spaced 10 left and right of the front sensor. Figure 7.2 shows this setup. The scale has been enlarged to make the setup obvious. Refer to this diagram to visualize the action of the algorithms that will be developed.
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FIGURE 7.1b
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The robot is ready to approach the line.
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FIGURE 7.2 The line-sensors setup in RobotBASIC.
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With three sensors there are many choices for how to develop a line-following robot. You could, for example, use only the front sensor and have the robot constantly swing left and right as it attempts to keep the sensor on the line. Such an algorithm can work, but the robot follows the line with an oscillating snaking sort of motion that is far from ef cient. On deeper analysis, you might decide that a better implementation would be to use the two outside sensors. In this case, the robot should try to keep the line between the two
FOLLOWING A LINE
Example if rSense( ) & 1 If rSense( ) = 4 if rSense( ) & 6 if rSense( ) a = rSense( ) if (a = 2) if a & 7 if a = 7
Action true if right sensor sees the line true if only the left sensor sees the line true if left OR middle OR both sensors see the line true if any sensor sees the line true if only the middle sensor sees the line true if any sensor sees the line true only if ALL the sensors see the line
FIGURE 7.3 The rSense() function reads the three line sensors.
outside sensors. It can do this by turning a little to the right every time the sensor on the right detects the line and turning left when the left sensor is triggered. 7.2.1 READING THE LINE SENSORS All three line sensors are accessed simultaneously with the single function rSense(Color). If you do not specify a color by using rSense(), the rst color in the list of invisible colors passed to the command rInvisible will be considered as the line color to be sensed. You must specify a list of invisible colors before you do any line sensing, and the color of the line must be in the list (preferably the rst one on the list). If you do not do this, the robot will not be able to sense the line since it will consider it an obstacle and will report an error if you make the robot move over the line. The rSense() function returns a number from 0 to 7. This number represents the sensory condition (on/off) with the least signi cant bit being the right-most sensor. Each sensor is on if it senses a line underneath it and is off otherwise. In the situation of Fig. 7.2, rSense() would return a value of 2 (010 in binary) because only the center sensor is seeing the line. A value of 6 (110 in binary) means that the left and front sensors are sensing the line while the right sensor is off the line. This could happen if the line made a sharp turn to the left as shown in Fig. 7.2. We can determine the status of a speci c sensor by using a binary AND (&) operator as shown in the examples of Fig. 7.3. 7.2.2 A FIRST ATTEMPT Figure 7.4 shows a subroutine that can follow a line using the above logic. The routine simply turns right or left depending on where it sees the line. The while-loop creates a loop that, in this case, continues forever (or until the user stops the program). To test
FollowLine: while true if rSense() & 1 then rTurn 1 if rSense() & 4 then rTurn -1 rForward 1 wend Return
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