vb.net read usb barcode scanner Developing Robot Behaviors in Software

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1.4 Developing Robot Behaviors
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The debugging tools in RobotBASIC are both powerful and easy to use. They let you watch the value of variables in your program while you observe the robot s behavior. You can even see the areas around the robot s perimeter where the infrared sensors are checking for objects. These features help you understand how your robot is seeing its environment, which in turn helps you develop algorithms that give your robot intelligent behaviors. RobotBASIC lets you easily and quickly simulate a wide variety of environments and situations for testing your algorithms. Testing a real robot can often be extremely timeconsuming. Typically, when programming a real robot, you have to edit a le, compile it, plug the robot into the computer, download the program to the robot s memory, unplug the robot, position the robot in the testing environment, switch it on, and then observe its behavior while making sure it does not damage itself or the environment. It is often dif cult if not impossible to see why the robot is not responding as you expected. You often have to repeat this cycle many times until you get the required result. The inconvenience of this iterative process can lead you to compromise and accept a working algorithm rather than an optimal one you could have developed had you persevered in trying to optimize your algorithm. With the simulator, you can make changes in seconds, not only to your algorithm, but to the environment as well. And during testing, you don t have to guess what your robot is seeing. With the debugging tools you can step through sections of your code, watching exactly what the robot is detecting and how it is reacting to obstacles in its path. We can t emphasize enough how important this ability is. When you develop an algorithm to control your robot s behavior it is crucial to be able to view the environment from the robot s perspective. A simulator is by far, the best way to achieve this.
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1.5 Simulation Can Improve Hardware Choices
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When you design a robot, you need to make many decisions. What type of sensors should it have, how many of each should there be, and how should they be mounted. For example, you might want to have infrared sensors around the perimeter of your robot so that it can detect objects before bumping into them. (Infrared sensors work by emitting infrared light and detecting if any of that light is re ected back to the robot.) You may choose to have only one sensor facing the front of your robot, or you might want one on each side in addition to the front one. The correct choice will be in uenced by the type of environment in which you expect your robot to operate. RobotBASIC s robot has ve infrared sensors, one directly in the front, two more offset 45 to the sides, and two more directly to the left and right of the robot. When programming the simulator you may use any or all of these sensors. You also have the capability of creating as many custom sensors as you might need for special situations (see Chap. 9). Imagine how this can help in designing your robot. Without a simulator you would have to mount and remount your sensors while going through numerous programming alterations and tests to see how your robot would react to your choices. With the simulator you can do all of this in a fraction of the time. The simulator also lets you easily test your sensor placements and programming algorithms under a wide range of conditions, such as extremely crowded environments or objects with sharp points and so on. If you use a simulator to test your ideas you can make decisions about what sensors your robot should have and how they should be placed before you actually construct the robot.
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