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made into ExprN 360 and if it is less than 180 (i.e., more negative than 180, e.g., 190) then it is made into 360 ExprN. So if your simulator command says rTurn 190 then the value sent to the real robot will be 170 with code 13 (i.e., left turn of 170). The received data contains 5 bytes but only the rst 3 are used. They are in the order described above for the status of the sensors. rCompass () (code 24) This function will send 2 bytes 24 and 0. The code 24 is for the compass. The received data contains 5 bytes. The rst 3 used are in the order described above for the status of the sensors. The last 2 bytes are the value returned by the compass on the real robot representing the heading (MSB rst). This means that this function will return a number formed as a 16-bit number from the fourth byte of the received 5 bytes as the MSB of the number and the fth byte as the LSB. rLook ({ExprN}) (code 48 or 49) Will send 2 bytes 48 (or 49) and Abs(ExprN). The code 48 is for the camera sensors reading ExprN degrees to the right and code 49 is to the left. If ExprN is negative it will be made positive and code 49 will be sent. The received data contains 5 bytes. The rst 3 used are in the order described above for the status of the sensors. The last 2 bytes are the value returned representing the color seen by the sensor. (MSB rst). This means that this function will return a number formed as a 16-bit number from the fourth byte of the received 5 bytes as the MSB of the number and the fth byte as the LSB. rBeacon (ExprN) (code 96) Will send 2 bytes 96 and ExprN. The code 96 is for beacon sensors reading and ExprN is the required color. The received data contains 5 bytes. The rst 3 used are in the order described above for the status of the sensors. The last 2 bytes are the value returned by the beacon representing the distance measured to the found beacon or 0 if the beacon is not found. (MSB rst). This means that this function will return a number formed as a 16-bit number from the fourth byte of the received 5 bytes as the MSB of the number and the fth byte as the LSByte. rRange ({ExprN}) (code 192 or 193) Will send 2 bytes 192 (or 193) and Abs(ExprN). The code 192 is for range sensor reading at ExprN degrees to the right and 193 is to the left. If ExprN is negative it is made positive and code 193 is sent. The received data contains 5 bytes. The rst 3 used are in the order described above for the status of the sensors. The last 2 bytes are the value returned by the rangers representing the distance measured. (MSB rst). This means that this function will return a number formed as a 16-bit number from the fourth byte of the received 5 bytes as the MSB of the number and the fth byte as the LSB. rPen ExprN (code 129) This command will send 2 bytes 129 and ExprN. The code 129 is for pen control. ExprN is either up (0) or down (not zero, can be any number other than 0 usually it is 1). The received data contains 5 bytes. The rst 3 are in the order described above for the status of the sensors. The last 2 bytes are not used and are set to 0.
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