vb.net read usb barcode scanner Let the program run for a while. Does the robot behave in Software

Generate QR Code in Software Let the program run for a while. Does the robot behave

Let the program run for a while. Does the robot behave
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MainProgram: linewidth 7 rectangle 50,50,650,550,red rlocate 100,100,90 rInvisible red goSub Confine End //======================================================== Confine: while true while not rSense() rforward 1 wend S = rSense() if S = 4 OR S = 6 then rTurn 1 if S = 1 OR S = 3 then rTurn -1 if S = 2 OR S = 7 then rTurn 150 + random(60) wend Return
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FIGURE 9.1 The robot does not behave quite right.
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Notice the use of the line S = rSense(). This saves the sensors condition in the variable S. We then use this variable to test for various situations. We could have written each if-statement like this:
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if rSense() = 4 OR rSense() = 6 then rTurn 1
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There are three if-statements where the sensory data is read twice. This means that if the style above is used, the function rSense() would be called six times. This is very wasteful and slow. The sensory data is not changing between executing each of the ifstatements. If we save the value returned by rSense() in a variable there is no need to call the function more than once. In real life the rSense() function would be implemented by the use of electronics and some way of communicating between the electronics and the microprocessor. The action of calling and interrogating the sensor is time consuming and battery utilization would be higher than needed. In this manner of calling the sensor only once (since its data is not changing), we save time and battery life. Notice that rSense() is used without specifying a color. This means that the rst color on the invisible colors list (red) will be redeemed as the line color for the sensors. Notice the condition of the if-statements. We use S = 4 OR S = 6, this means that we are checking if the left sensor is on by itself or both the left and front sensors are on simultaneously. We cannot use S & 6 because this condition would be true if either the left or the front sensor is on. This is not what we want. We want to turn if the left sensor is triggered by itself or if it is triggered along with the front sensor. So the condition S = 4 OR S=6 is not the same as S & 6. The algorithm in this program is not completely effective. The robot sometimes steps over the line and given enough time it will eventually escape completely from the con ned area. This is due to a combination of hardware and software de ciencies. The hardware is not suf cient for the situation, the three sensors of rSense() do not sense the line early enough to check if the robot is approaching the line at too shallow an angle. By the time the sensors trigger, part of the robot s body has already passed over the con ning line. The second problem is a software problem in combination with the hardware limitation. The random turn of 180 30 can cause the robot to turn in a direction that puts the sensors away from the line but also outside the area. This is due to the body of the robot being on top of the boundary line. When the robot turns it is possible for the front of the robot to be outside the boundary and so the sensors would be outside the boundary and unable to sense the boundary line. The problem is the robot will not know that it is facing outside the area and since the sensors are not triggered, it will happily go forward until it escapes the con nement area altogether. If we are willing to accept that some of the body of the robot can go over the line, so long as the robot never escapes totally, can we adjust the algorithm to make the robot behave better 9.1.2 IMPROVING THE ALGORITHM We are willing to accept the robot going over the line a little but we do not want it to escape, ever. Replace the third if-statement in the program of Fig. 9.1 with this line and run the program to see what the new behavior is.
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if S = 2 OR S = 7 then rTurn 170+random(20)
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