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COMPLEX COMPOUND BEHAVIORS
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//---Variables TurnDirection = 0 TurnAmount = 1 MaxTurnAmount = 3 ResetPercentTime = 1 MaxTurnPercentTime = 30 TurnPercentTime = 0 RR = 15 //robot's radius LnClr = Cyan //pen color BrdrClr = white //border color //========================================================== MainProgram: gosub DrawLawn gosub InitRobot gosub MoveRobot End //========================================================== InitRobot: rlocate 400,300,30,RR rInvisible LnClr,LightGreen rpen down linewidth (RR-2)*2 Return //========================================================== DrawLawn: ClearScr Red LineWidth 4 SetColor white Data Lawn; -44, 58, 173, 28, 534, 45 Data Lawn; 753, 182, 744, 516, 520, 510 Data Lawn; 402, 574, 401, 574, 60, 552 Data Lawn; 35, 406, 43, 59, 589, -255 MPolygon Lawn,lightgreen FloodFill 0,0,white LineWidth 2 SetColor black Data FlowerBed; -589, 255, Data FlowerBed; 442, 218, Data FlowerBed; 459, 296, Data FlowerBed; 534, 290, Data FlowerBed; 602, 283, MPolygon FlowerBed,brown
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Data Trees; 129, 453, 257, 280, 90, 245 Data Trees; 182, 134, 600, 400, 316, 450 Data Trees; 391, 94 DP_D = 50 for DP_I = 0 to MaxDim(Trees,1)-1 Step 2 DP_X = Trees[DP_I] DP_Y = Trees[DP_I+1] Circle DP_X,DP_Y,DP_X+DP_D,DP_Y+DP_D,black,brown next Return //========================================================== 01 MoveRobot: 02 m =1 03 while true
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FIGURE 11.6
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04 gosub CheckBorder 05 if Borders 06 if Borders & 24 and not(Borders & 3) 07 rTurn (45+random(45)) 08 elseif Borders & 3 and not(Borders & 24) 09 rTurn -(45+random(45)) 10 else 11 gosub Reverse 12 endif 13 else 14 F = rFeel() 15 if F 16 if F&3 and not(F&24) 17 m = -1 18 elseif F&24 and not(F&3) 19 m = 1 20 else 21 m = -1 22 if random(10000) < 5000 then m = 1 23 endif 24 rTurn m*(random(4000)/1000+1) 25 endif 26 endif 27 if (rBumper()&4) or (rFeel()&12) 28 TurnDir = -1 //left 29 gosub WallFollow 30 elseif (rBumper()&4) or (rFeel()&6) 31 TurnDir = 1 //right 32 gosub WallFollow 33 endif 34 while rBumper()&4 35 rturn m 36 wend 37 gosub ForwardRobot 38 wend 39 return //========================================================== ForwardRobot: rForward 1 //now see if we need to turn too gosub TestSensors if Sensors = 0 //fully new area TurnPercentTime = 0 //recent %time TurnDirection = 0 //no turn TurnAmount = 1 //reset amount else //increment %time but to a maximum TurnPercentTime = TurnPercentTime+1 if TurnPercentTime > MaxTurnPercentTime TurnPercentTime = MaxTurnPercentTime endif //turn right unless we need to turn left TurnDirection = 1 if Sensors = 31 //fully old area //increment turn amount but to a maximum TurnAmount = TurnAmount+1
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FIGURE 11.6
(Continued )
COMPLEX COMPOUND BEHAVIORS
if TurnAmount > MaxTurnAmount TurnAmount = MaxTurnAmount endif //random turn direction if random(10000) < 5000 then TurnDirection = -1 elseif Sensors&3 and not(Sensors&24) //if painted area on right turn left //no need to check for left since turndir is set to //right by default TurnDirection = -1 elseif Sensors = 4 //if painted area is only straight ahead //randomize the direction if random(10000) < 5000 then TurnDirection = -1 endif endif //if not correct percent of time //turn off turning if random(100000) > 100000%TurnPercentTime TurnDirection = 0 endif //reset the %time for turning on occasion if random(100000) < 100000%ResetPercentTime TurnPercentTime = 0 endif //make the turn if required if TurnDirection <> 0 rTurn sign(TurnDirection)*TurnAmount endif Return //========================================================== //-- Creates 5 ground sensors //-- at +/-90, +/-45 and 0 degrees TestSensors: Sensors = 0 for i = 0 to 4 if rGroundA(90-i*45) = LnClr Sensors = Sensors | (2^i) endif next return //========================================================== CheckBorder: Swap BrdrClr,LnClr gosub TestSensors Swap BrdrClr,LnClr Borders = Sensors return //========================================================== Reverse: for i = 1 to (random(10)+10) if rBumper() & 1 then break rForward -1 next if random(1000) >= 500 rTurn 90-random(45) else
FIGURE 11.6
(Continued )
MOWING AND SWEEPING ROBOT
rTurn -90+random(45) endif return //========================================================== WallFollow: rTurn TurnDir*random(150) while not rSense() while (rFeel() & 6) or (rBumper() &6) rTurn TurnDir wend if rBumper() &4 then return rForward 1 // forward always to prevent stall if rFeel()=1 or rFeel()=0 // too far from wall or no wall while not rFeel() // turn back quickly to find wall again rTurn -TurnDir*5 rForward 1 wend endif wend return //==========================================================
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