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DEVELOPING A TOOLBOX OF BEHAVIORS
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//-----Constants TableColor = White F_RandomTurn = 3 F_RandomTurn_Percent = 10 LineAvoidA = 20 LA_RandomTurn = 30 TurnAroundA = 60 //==================================================== MainProgram: goSub SetTable rlocate 100,100,90 rInvisible Gray //---no cheating goSub TableRoam End //==================================================== //-- Roam On Table for ever TableRoam: while true goSub TestSensors S = Sensors if not S if not(rBumper() & 4) //---only forward if no obstacles rForward 1 if random(10000) < 10000%F_RandomTurn_Percent //--add a bit of turning for better coverage rTurn random(F_RandomTurn) endif else gosub Reverse //--avoid obstacle endif elseif ((S & 24) AND not(S & 3)) //-- only left sensors and not right sensors //-- don't care about front sensor rTurn LineAvoidA+random(LA_RandomTurn) elseif ((S & 3) AND not(S & 24)) //-- only right sensors and not left sensors //-- don't care about front sensor rTurn -(LineAvoidA+random(LA_RandomTurn)) else //---catch all other conditions rTurn 180-TurnAroundA/2+random(TurnAroundA) endif wend Return //===================================================== //-- Creates 5 ground sensors TestSensors: Sensors = 0 for i = 0 to 4 if rGroundA(90-i*45) <> TableColor Sensors = Sensors | (2^i) endif next Return //===================================================== //-- Makes a random reverse and turn Reverse:
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FIGURE 9.3 Effective table roaming.
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AVOIDING DROP OFFS AND RESTRICTED AREAS
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for i = 1 to (random(10)+10) //--reverse so long no object on the //--back and only max 20 pixels if rBumper() & 1 then break rForward -1 next //--turn min 45 degrees max 90 //-- in a random direction if random(1000) >= 500 rTurn 90-random(45) else rTurn -90+random(45) endif Return //==================================================== //--Sets the table environment SetTable: rectangle 0,0,800,600,gray,gray rectangle 50,50,650,550,TableColor,TableColor circle 200,200,250,250,black,black circle 400,400,450,450,blue,blue rectangle 250,400,300,480,magenta,magenta rectangle 450,300,480,410,cyan,cyan Return
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FIGURE 9.3 (Continued )
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are now ve sensors and thus the numbers being compared are a little different. Here is the logic:
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Turn right to avoid the edge if either of the left sensors reports a drop off but not any of the right sensors. We do not care about the front sensor, it can be on or off, no matter if we still want to turn right. Turn left to avoid the edge if either of the right sensors reports a drop off but not any of the left sensors. We do not care about the front sensor, it can be on or off, no matter if we still want to turn left. If neither of the above conditions is true, but there are sensors that are detecting an edge in a combination that has not been covered above, we will execute an about face. The amount of turning will be 180 an amount that is set by the parameters at the top of the program.
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If you are familiar with other programming languages, the construct used in this subroutine is similar to a Case statement, which we do not have in RobotBASIC but can be easily emulated with the if-elseif-else-endif construct (see Sec. C.6 for more details on emulating the Case construct). The algorithm implements obstacle avoidance with rBumper(), if there are no obstacles it moves forward and turns in the same manner as described in the previous section. If there is an obstacle it calls the Reverse subroutine (Lines 62 77). This subroutine causes the robot to backup a distance speci ed by a random number between 20 and 10 pixels but only if there is no object behind it. After backing up, the robot turns a random amount in a random direction between 45 and 90 .
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