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FIGURE 15.3
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User interface subroutines.
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xytext 260,400,Format(rChargeLevel(),"##0%"),"",15,fs_Bold xytext 493,400," "+Nodes[RobotNode,0]+" ","",15,fs_Bold for CR_I = 0 to MaxDim(CR_btns,1)-1 AddButton CR_btns[CR_I],300,110+CR_I*25,150 next while true GetButton CR_btn if keydown(kc_Esc) then break if CR_btn <> "" then break wend RestoreScr for CR_I = 0 to MaxDim(CR_btns,1)-1 RemoveButton CR_btns[CR_I] next GoalNode = RobotNode if CR_btn <> "" and CR_btn <> CR_btns[0] for GoalNode=1 to MaxDim(CR_btns,1)-1 if CR_btn = CR_btns[GoalNode] then break next GoalNode = GoalNode-1 endif Return //============================================================
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FIGURE 15.3
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the additional functions and commands that RobotBASIC provides. The subroutine ChooseRoom in Fig. 15.3 demonstrates the use of many powerful commands to create an advanced user interface as you can see in Fig. 15.4. You should always refer to the Appendices and IDE help pages for more in-depth information regarding new functions and commands. In a real-life system we would need a program that runs on a computer network that allows of ce workers to command the robot. The user interacts with the robot through a PC program and chooses the room to which the robot must go. The PC would have a wireless connection (perhaps through the network) to the robot to specify the desired action. This functionality is simulated by the subroutines WaitForCommand (discussed later) and ChooseRoom. The ChooseRoom subroutine uses user-interface functions and commands to create a menu for the user to choose which room the robot must go to. The routine also displays the status of the battery and the room where the robot is currently located. The routine makes use of the command xyText to display the text in a bigger bolded font. Also notice the use of the command ERectangle. The function KeyDown() is another way to check for a keypress. In this case it is used to check for the Esc key. The commands AddButton, GetButton, and RemoveButton are used to create a set of buttons that act as a menu for the user to choose the room to go to. The buttons are activated with the AddButton command and deactivated (when no longer needed) using the RemoveButton command. Notice the use of the VType() function. It is used to create a little trick. The rst time through the routine the variable CR_t would not have been created yet and the function will return 0. This makes the ow enter within the if-block and the rst action taken is to assign a true to CR_t, which effectively creates the variable. Thus the second time
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FIGURE 15.4 Choosing a room to go to.
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through the subroutine the function will return 105 which is not 0 and thus the if-block will not be entered. This prevents the array CR_btns from being de ned again. Notice that the routine saves the screen by using the command SaveScr and then restores it by using RestoreScr. The user interface window is drawn over the of ce simulation screen. Thus, if we save the screen before we draw the command menu and then restore it after the user chooses a room, the screen will be the same as it was before the command menu window was drawn over it. This makes the command menu appear as if it was a window that opened and closed without affecting the graphics on the screen underneath it. The routine also displays the robot s current location in the window. The robot s current node number is kept in the variable RobotNode. The routine can display this number; however, it is more user-friendly if this number is translated to words displaying the name of the room the robot is in. This is achieved by indexing into an array containing the names of the rooms. This is the array Nodes[ ] created in the subroutine MapOf ce. The action of the subroutine is to wait for the user to select a button using the mouse or by pressing Alt the underlined character in the button s title. The user is also allowed to press the Esc key. The routine will stay in a loop waiting for one of the buttons to be pressed
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