vb.net read usb barcode scanner To recognize when to abort the behavior. 2. To check and/or display the battery charge level. in Software

Creating QR Code in Software To recognize when to abort the behavior. 2. To check and/or display the battery charge level.

1. To recognize when to abort the behavior. 2. To check and/or display the battery charge level.
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As your programs become progressively more complicated and subroutines become numerous, the calling sequence becomes intertwined and harder to follow. A diagram of the subroutines hierarchy is an indispensable aide to understanding the overall structure of a program. The chart in Fig. 13.4 is such a diagram.
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PlaceRobot FaceBeacon ForwardTillBlocked GoAround UnStick
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BatteryMeter
SimulateCharging
FIGURE 13.4
Subroutine hierarchy chart.
13.3.2 THE PROGRAM The program is shown in Fig. 13.5. Refer to Fig. 13.4 to see how the subroutines call each other. The chart is not a calling order; rather it is hierarchy diagram. The chart shows which routine calls which, but not the order in which they are called. For this information you will either need a owchart or pseudocode. The language of RobotBASIC can be selfdocumenting if you use proper names for variables and subroutines so it is almost its own pseudocode. This means that the program is its own documentation. Refer to the program listing in Fig. 13.5 and review the chart in Fig. 13.4 to understand the program well. You have seen most of the routines in previous chapters. The only new routines are ChargeBattery, SimulateCharging, and BatteryMeter. The BatteryMeter subroutine erases (by drawing a white line) a little of the meter level drawn previously by SimulateCharging, which draws a progressively rising colored rectangle to simulate a charge level meter. This is of course to simulate the robot being charged. The actual charging (as explained before) is done by the rCharge command and occurs instantaneously. The ChargeBattery routine is invoked after the robot has followed the line into the charging station (FollowLine). The routine makes the robot turn around so it can back into the charging station and then reverses until its rear bumper closes. The routine then invokes the charging simulation. At the top of the main program there is a set of constants and variables. The constant MAX_CHARGE is set to 100 percent but you can change this number to allow for recharging to a lower level if you want to test the program and do not want to have to wait too long. You can also achieve the same action by raising the LOW_LEVEL value. This value is the level at which the robot will start seeking a charging station. The variable Battery holds the value of the batteries current charge level. Notice how it is set by the BatteryMeter routine. This value will be compared to the LOW_LEVEL constant while roaming to determine if it is time to abandon roaming and look for the charger. Most of the subroutines call BatteryMeter to update the display and the value Battery. The FindBeacon subroutine and its subordinate routines are almost identical to those in Chap. 12. The only difference is that now they call the BatteryMeter subroutine to
CHARGING THE BATTERY
//---Variables & Constants LOW_LEVEL = 65 MAX_CHARGE = 100 BeaconX = 600 BeaconY = 520 Battery = 0 //======================================== MainProgram: GoSub SetEnvironment While true gosub RoamAround gosub FindBeacon gosub FollowLine gosub ChargeBattery wend End //======================================== SetEnvironment: // Draw four circles and four squares for i=1 to 4 SetColor Black LineWidth 4 x = random(420) + 120 y = random(250)+60 size = random(50)+50 circle x,y,x+size,y+size x = random(450)+100 y = random(250)+100 size = random(100)+50 rectangle x,y,x+size,y+size next //--draw docking line SetColor Green LineWidth 2 gotoxy BeaconX+100,BeaconY lineto BeaconX+50,BeaconY Lineto BeaconX,BeaconY-20 Lineto BeaconX-50,BeaconY-20 Line BeaconX-50,BeaconY+20,BeaconX,BeaconY+20 Lineto BeaconX+50,BeaconY Arc BeaconX-70,BeaconY-20,BeaconX30,BeaconY+20,DtoR(90),DtoR(180) //draw beacon circle BeaconX-30,BeaconY-10,BeaconX-10,BeaconY+10,red,red //draw charging station Rectangle BeaconX+105,BeaconY12,BeaconX+180,BeaconY+12,blue,blue SetColor White,Blue xyString BeaconX+110,BeaconY-10,"CHARGER" //--Battery meter SetColor Black,White
FIGURE 13.5 This program shows how the robot can charge its own battery when it becomes depleted.
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LineWidth 3 Rectangle 0,0,76,130,black gotoxy 1,123-LOW_LEVEL LineTo 75,123-LOW_LEVEL,3,Brown SetColor Black,White xyString 5,2, "BATTERY" //--charge the robot initially GoSub PlaceRobot GoSub SimulateCharging return //======================================== PlaceRobot: rLocate BeaconX+80,BeaconY,-90 // designate the beacon and line colors as non-objects rInvisible Green,Red rIgnoreCharge False Return //======================================== RoamAround: while true GoSub BatteryMeter if Battery < LOW_LEVEL then return // forward until an object is found while not (rFeel( )&14) AND not (rBumper()&14)) rForward 1 wend D=random(100) for i=0 to random(50)+50 if D>50 rTurn 1 else rTurn -1 endif next wend return //======================================== FindBeacon: cnt=0 Repeat GoSub BatteryMeter cnt=cnt+1 gosub FaceBeacon if cnt <20 gosub ForwardTillBlocked // decide to follow left or right if (cnt=1) and (rFeel()&8) then cnt=10 if (cnt<10) or (random(20)<2) TurnDir = -1 else TurnDir = 1 endif
FIGURE 13.5 (Continued )
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