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vb.net barcode reader from webcam Introduction to RobotBASIC 2.1 Running RobotBASIC 2.2 The RobotBASIC IDE in Software
2 Introduction to RobotBASIC 2.1 Running RobotBASIC 2.2 The RobotBASIC IDE Scanning QR Code In None Using Barcode Control SDK for Software Control to generate, create, read, scan barcode image in Software applications. QR-Code Printer In None Using Barcode maker for Software Control to generate, create QR Code ISO/IEC18004 image in Software applications. 2.2.1 The Editor Screen 2.2.2 The Terminal Screen 2.2.3 The Help Screen
Denso QR Bar Code Decoder In None Using Barcode recognizer for Software Control to read, scan read, scan image in Software applications. QR Code JIS X 0510 Generator In C#.NET Using Barcode maker for Visual Studio .NET Control to generate, create Denso QR Bar Code image in .NET framework applications. 2.3 Creating, Running, and Saving a Program 2.4 The Robot Simulator
Draw Quick Response Code In Visual Studio .NET Using Barcode encoder for ASP.NET Control to generate, create QR Code ISO/IEC18004 image in ASP.NET applications. Quick Response Code Maker In VS .NET Using Barcode creator for .NET framework Control to generate, create QR Code 2d barcode image in .NET framework applications. 2.4.1 Initializing the Robot 2.4.2 Animating the Robot 2.4.3 Moving Around Obstacles
QR Generator In VB.NET Using Barcode encoder for .NET framework Control to generate, create QR image in .NET applications. UCC.EAN - 128 Maker In None Using Barcode maker for Software Control to generate, create EAN 128 image in Software applications. 12 13 Printing Data Matrix ECC200 In None Using Barcode creation for Software Control to generate, create DataMatrix image in Software applications. GTIN - 12 Creation In None Using Barcode generation for Software Control to generate, create UPC-A Supplement 5 image in Software applications. 13 14 16 Code-128 Generator In None Using Barcode maker for Software Control to generate, create Code 128 Code Set B image in Software applications. Bar Code Printer In None Using Barcode maker for Software Control to generate, create bar code image in Software applications. 2.5 Summary 2.6 Exercises
Make UCC - 12 In None Using Barcode generator for Software Control to generate, create UPC-E Supplement 2 image in Software applications. Make EAN-13 Supplement 5 In VS .NET Using Barcode drawer for VS .NET Control to generate, create GS1 - 13 image in VS .NET applications. 17 17 UPC A Creation In Java Using Barcode creator for Java Control to generate, create GS1 - 12 image in Java applications. Bar Code Generation In Objective-C Using Barcode maker for iPhone Control to generate, create bar code image in iPhone applications. xii CONTENTS
Generating Barcode In Visual C#.NET Using Barcode drawer for VS .NET Control to generate, create barcode image in .NET framework applications. Code 39 Extended Creator In None Using Barcode maker for Online Control to generate, create Code 39 image in Online applications. 3 RobotBASIC Sensors 3.1 Some Programming Constructs
Print Bar Code In Visual Basic .NET Using Barcode creator for .NET Control to generate, create barcode image in Visual Studio .NET applications. Make Code 128C In Java Using Barcode maker for Android Control to generate, create Code 128 Code Set C image in Android applications. 3.1.1 3.1.2 3.1.3 3.1.4 3.1.5 3.2.1 3.2.2 3.2.3 3.2.4 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 Comments Conditional Statements Comparison Operators Loops Binary Numbers Bumper Sensor Avoiding Collisions Improving Ef ciency Making Better Decisions Infrared Sensors Ultrasonic and Infrared Ranging Robot Vision Beacon Detection Customizable Sensors 19 19 20 20 21 21 21 3.2 Avoiding Collisions Using Bumpers
23 24 25 25 3.3 Other Sensors for Object Detection
26 27 27 28 28 3.4 Other Instruments
3.4.1 Compass 3.4.2 Global Positioning 3.4.3 Battery Charge Level
29 29 30 3.5 Summary 3.6 Exercises 4 Remote Control Algorithms 4.1 Some Programming Constructs
4.1.1 4.1.2 4.1.3 4.1.4 4.1.5 4.1.6 Variables The Keyboard The Mouse Output to the Screen Loops Functions 30 30 33 34 34 35 35 36 36 38 4.2 Simple Remote Control
4.2.1 First Style of Remote Control 4.2.2 Second Style of Remote Control
38 40 4.3 Complex Remote Control
4.3.1 The Mathematics 4.3.2 The Pen 4.3.3 Subroutines
41 44 44 CONTENTS xiii
4.4 Remote Controlled Test Bench 4.5 Summary 4.6 Exercises 5 Random Roaming 5.1 What Is Random Roaming 5.2 Some Programming Constructs 5.2.1 Labels and Subroutines 5.2.2 Commands 5.2.3 Operators
47 47 49 51 52 52 53 54 54 5.3 Adding Objects to the Roaming Environment
5.3.1 DrawObjects Subroutines 5.3.2 RoamAround Subroutines
57 58 5.4 More Intelligent Roaming
5.4.1 Using Sensory Information More Effectively
5.5 Improved Obstacle Avoidance
5.5.1 A First Improvement 5.5.2 A Second Improvement 5.5.3 Further Improvements
61 61 62 5.6 Summary 5.7 Exercises 6.1 6.2 6.3 6 Debugging Before You Program Plan Plan Plan Debugging Philosophy 6.3.1 6.3.2 6.3.3 6.3.4 6.4.1 6.4.2 6.4.3 6.4.4 Isolating the Fault Locating the Fault Correcting the Problem Patience Patience Patience The Debug Command Stepping Through a Program Viewing the Infrared Beams Viewing Bumper LEDs 63 63 65 66 66 67 67 67 68 68 6.4 Debugging with RobotBASIC
69 70 71 71 6.5 Summary 6.6 Exercises
71 72 xiv CONTENTS
PART 2 DEVELOPING A TOOLBOX OF BEHAVIORS 7 Following a Line 7.1 The Base Program 7.2 An Initial Algorithm 7.2.1 Reading the Line Sensors 7.2.2 A First Attempt 7.2.3 An Improvement
73 75 76 77 79 79 80 7.3 Sharp Turns Cause a Problem
7.3.1 7.3.2 7.3.3 7.3.4 Possible Solutions A First Strategy A Second Strategy Very Sharp Turns
80 81 82 82 7.4 Random Roaming with Line-Following (Racetrack) 7.4.1 The RoamAround Subroutine 7.4.2 The InitializeRobot Subroutine 7.4.3 The Data Statement and mPolygon Command 85 85 85 7.5 Summary 7.6 Exercises 8 Following a Wall 8.1 Constructing a Wall 8.2 A Basic Algorithm
8.2.1 Problems with the Basic Algorithm 8.2.2 Improving the Algorithm 8.2.3 Using the Bumpers
87 88 89 89 91 91 92 93 8.3 Staying Close on Sharp Corners
8.3.1 Initial Algorithm 8.3.2 Finding the Problem 8.3.3 Solving the Problem
94 95 96 8.4 A Different Approach 8.5 Summary 8.6 Exercises 9 Avoiding Drop Offs and Restricted Areas 9.1 Good Robot 9.1.1 An Initial Algorithm 9.1.2 Improving the Algorithm 9.1.3 A Better Algorithm
96 100 101 103 104 104 105 106 9.2 Cliff Hanger
CONTENTS xv
9.3 GPS Con nement
9.3.1 9.3.2 9.3.3 9.3.4 9.3.5 The Speci cations Main Program RoamAround Subroutine DrawBoundary Subroutine TestViolation Subroutine 112 113 113 115 115 9.4 Summary 9.5 Exercises 10 Vector Graphics Robot 10.1 DrawBot
10.1.1 10.1.2 10.1.3 10.1.4 Drawing Drawing Drawing Drawing Circles Rectangles Triangles any Shape
119 120 121 122 122 123 124 126 10.2 ABC Robot
10.2.1 The Speci cations
10.3 Summary 10.4 Exercises PART 3 COMPLEX COMPOUND BEHAVIORS 11 Mowing and Sweeping Robot 11.1 Sweeper Robot 11.1.1 11.1.2 11.1.3 11.1.4 The Base Program A First Attempt An Improvement Further Improvements
134 134 137 139 139 140 140 140 144 11.2 Mowing Robot
11.2.1 The Speci cations 11.2.2 The Program 11.2.3 A Shortcoming
147 147 153 11.3 Further Thoughts
11.3.1 11.3.2 11.3.3 11.3.4 Considering the Batteries Limited Coverage Around Obstacles Using GPS Grids A Reality Check 154 154 155 155 11.4 Summary 11.5 Exercises
155 156 xvi CONTENTS
12 Locating a Goal 12.1 Using a Beacon
12.1.1 12.1.2 12.1.3 12.1.4 12.1.5 12.1.6 12.1.7 12.1.8 The Algorithm The Main Program Creating a Cluttered Room Facing the Beacon Moving Toward the Beacon Going Around an Obstacle Determining If the Beacon Is Found A Potential Problem 157 158 158 159 159 160 160 161 162 162 12.2 12.3 12.4 12.5 Using a Beacon and Camera Using a GPS and Compass Summary Exercises
163 165 166 166 169 170 171 172 172 172 13 Charging the Battery 13.1 The Robot s Battery 13.2 Real-World Charging
13.2.1 Finding the Station 13.2.2 The Charging Station 13.2.3 Ensuring a Proper Approach Angle
13.3 The Simulation
13.3.1 Subroutines Hierarchy Chart 13.3.2 The Program
173 174 13.4 Summary 13.5 Exercises 14 Negotiating a Maze 14.1 A Random Solution
14.1.1 The Program 14.1.2 Observations
179 179 181 182 182 188 14.2 A Directed Random Solution 14.3 A Minimized Randomness Solution
14.3.1 14.3.2 14.3.3 14.3.4 14.3.5 14.3.6 A Corridor Maze The Program Generating the Maze Solving the Maze Renegotiating the Maze Embedded Debug Commands 189 190 191 191 191 191 198 198 CONTENTS xvii
14.4 A Mapped Solution
14.4.1 14.4.2 14.4.3 14.4.4 14.4.5 14.4.6 Mapping the Maze The Program Creating the Map s Graph Solving the Maze Finding a Path The Optimal Path 199 200 200 200 204 204 14.5 Final Thoughts 14.6 Summary 14.7 Exercises 15 Negotiating a Home or Of ce 15.1 The Design Process 15.2 An Of ce Messenger Robot 15.2.1 15.2.2 15.2.3 15.2.4 15.2.5 15.2.6 15.2.7 15.2.8 The Of ce Speci cations The Main Program and Subroutines Hierarchy Chart The User Interface Drawing the Of ce and Placing the Robot Mapping the Of ce Waiting for a Command Executing the Command Recharging the Battery 206 206 207 209 210 210 211 211 212 216 219 224 225 227 15.3 A Reality Check
15.3.1 Counteracting Motor Slip with a GPS and Compass 15.3.2 No GPS or Compass (Slip Is Corrected by Hardware) 15.3.3 Resilience Against Slip Using Beacons 229 230 235 15.4 Further Thoughts 15.5 Summary 15.6 Exercises PART 4 GOING FURTHER 16 True Intelligence: Adaptive Behavior 16.1 Adaptive Behavior
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