vb.net read usb barcode scanner CHARGING THE BATTERY in Software

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CHARGING THE BATTERY
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GoSub GoAround else gosub UnStick cnt=0 endif Until rSense()&2 // Line Found Return //======================================== FaceBeacon: while not rBeacon(Red) rTurn 1 wend // Show battery condition GoSub BatteryMeter return //======================================== ForwardTillBlocked: while not (rFeel() & 14) AND not (rBumper() & 14) rForward 1 if rSense() then break wend GoSub BatteryMeter return //======================================== GoAround: if rSense() then return If TurnDir > 0 FN = 6 Else FN = 12 Endif for i=1 to 20 + random(250) While (rFeel()&FN) or (rBumper()&4) rTurn -TurnDir Wend rForward 1 rTurn TurnDir Next Return //======================================== UnStick: if random(100)<50 then rTurn 180 for i=0 to 100+random(200) while not(rbumper()&14) rForward 1 wend rTurn random(8)-3 next Return //========================================
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FIGURE 13.5 (Continued )
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FollowLine: while rFeel()=0 rForward 1 while rSense() & 1 rTurn 1 wend while rSense() & 4 rTurn -1 wend wend Return //======================================== ChargeBattery: rTurn 180 while not rBumper() rForward -1 wend GoSub SimulateCharging Return //======================================== SimulateCharging: SetColor LightMagenta for i= Battery to MAX_CHARGE gotoxy 5,125-i lineto 70,125-i Delay 100 gotoxy 1,123-LOW_LEVEL LineTo 75,123-LOW_LEVEL,3,Brown next rCharge MAX_CHARGE Battery = MAX_CHARGE Return //======================================== BatteryMeter: // Show battery condition Battery=rChargeLevel() SetColor White gotoxy 5,120-Battery lineto 70,120-Battery gotoxy 1,123-LOW_LEVEL LineTo 75,123-LOW_LEVEL,3,Brown Return //========================================
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FIGURE 13.5 (Continued )
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update the meter display, and also they are made to abandon the behavior once the line on the oor is sensed by the rSense() function. RoamAround is the same as discussed in Chap. 5 but with the added call to BatteryMeter to update the display and the value Battery. There is also a check to see if the battery charge level is below the LOW_LEVEL threshold to be able to abandon the behavior.
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CHARGING THE BATTERY
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13.4 Summary
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In this chapter you have: Learned about RobotBASIC s simulated battery and how to use it in a program. Seen how several of the algorithms from previous chapters can be combined to give the robot the ability to locate a charging station, dock with it, and replenish its battery. Seen how to organize a program using a subroutines hierarchy chart. Learned how to use programming to simulate real-time actions. Seen more examples of how to reuse previously developed behaviors and algorithms with slight changes to achieve new behaviors. Now, try to do the exercises in the next section.
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13.5 Exercises
1. Run the program in Fig. 13.5 to see how it performs. Study the code to see how the
algorithms from previous chapters have been modi ed to work together, passing control from one behavior to another, and how the main program acts as a sequencing manager to invoke the appropriate routines in the correct sequence once a behavior terminates. You may want to change the value in MAX_CHARGE to allow for a shorter wait before the battery is depleted. 2. Think of other ways to locate and home in on a charging station. Write a program to demonstrate your ideas. 3. The subroutines FollowWall and FollowLine in Fig. 13.5 do not call the subroutine BatteryMeter. This means that the meter display will not be updated while these routines are running. Change these routines to correct this. 4. What happens if you set LOW_LEVEL to a low number (say 10 precent) If the robot cannot reach the charging station before its battery is fully depleted what happens If the low-level value is set too low and the robot happens to be in a place where it cannot reach the station without having to go around objects, what situation may occur
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CHAPTER
NEGOTIATING A MAZE
olving mazes is a popular pastime for many people. There are mazes in puzzle books and magazines, and even on placemats in some family restaurants. People love mazes so much that many parks and gardens around the world have hedge mazes. People even build mazes for rats and mice so that they can conduct behavioral experiments. Making our robot solve a maze is an enjoyable challenge. Navigating mazes is also a popular contest in many robotic clubs. All mazes have a common feature. You start at one point in the maze then try to follow a path that leads to a goal point elsewhere in the maze. The challenge is to reach the goal point without encountering too many dead-ends that oblige us to retrace paths already taken. There are many types of mazes:
Line mazes, where you follow a line that has branches that can lead to dead ends. Corridor mazes, where you trace a path in the center of a labyrinth of corridors that can lead to dead ends. Of ces, homes, cities, and highways are also mazes that we negotiate on a regular basis without even realizing it. Every time we travel from one place to another during our daily activities we are actually solving a maze.
In this chapter we will develop algorithms for solving the rst two types of mazes. We will only consider mazes with vertical and horizontal lines. In the next chapter we will tackle the more general situations of of ce and home mazes.
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