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or the Esc key. Pressing the Esc key or the Cancel button keeps the robot where it is (i.e., the GoalNode variable is made to be equal to the RobotNode variable). Pressing any of the other buttons will set the GoalNode to the node number of the room chosen. Since these rooms have been arranged to be the rst eight rooms in the array of nodes and since the array indexing starts at 0 (not 1) then the button s position in the array of button names less one will be the node number of that room. Of course, if the room chosen is the same as the robot s current location, then the robot will remain where it is. The ultimate outcome of the ChooseRoom subroutine is that the value GoalNode is set to the desired destination in the of ce layout. If you look at the listing in Fig. 15.3 you will see that above the subroutine name there is a set of comment lines that summarize:
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The inputs the routine requires. The outputs the routine gives. The subroutines the routine calls. The action of the routine.
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This method of documenting your work is vital if you are developing nontrivial systems. You will be thankful you spent the time and effort documenting your work in this manner if you ever need to modify the system after the elapse of some time, or if other people will be doing so. Also, if you are going to collect your routines into a library of tools to be reused, the information presented in these comments will be indispensable. Notice how temporary variables within the routines are named. For example, in the subroutine ChooseRoom the variable CR_I is used in the for-loop instead of I or i (CR_ is used due to the fact that the routines initials are CR). All variables in RobotBASIC are global. This means that all variables are available anywhere in the code. If you have a subroutine that uses a temporary variable (e.g., i) and then it calls another subroutine that also uses a variable with the same name (i again), then all sorts of problems will arise. If you are going to set any temporary variables privately within a routine use this naming convention to make it unlikely that the above problem will occur. This is vital when your programs become complicated with subroutines calling other subroutines and so on. 15.2.4 DRAWING THE OFFICE AND PLACING THE ROBOT The DrawOf ce subroutine in Fig. 15.5 is similar to the one seen in Chap. 11. The of ce has been modi ed a little to have an area dedicated to the robot s charging station (see Fig. 15.6). The various rooms in the of ce are labeled for the convenience of knowing which room is which, when choosing the room to go to. The PlaceRobot subroutine (Fig 15.5) places the robot so that it is already docked with the charging station. Also, it sets the list of invisible colors and makes the robot heed the battery charge level. The command rSlip will be explained later in the chapter. The last line initializes the variable RobotNode. This variable is important for the operations of the system. The robot s initial position is at the charging station. This is designed to be the last node in the array of nodes (see later sections). Thus we set the value to NodesCount 1. NodesCount is a variable that holds the number of nodes in the of ce map (see later sections). The reason we subtract 1 is due to array indexing, as you already know.
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