vb.net barcode scan event TA = PolarA (dX,dY)*180/pi() + 90 in Software

Making Quick Response Code in Software TA = PolarA (dX,dY)*180/pi() + 90

TA = PolarA (dX,dY)*180/pi() + 90
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We can now calculate dA (the angle to turn) as TA ing formula:
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CH, which results in the follow-
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dA = PolarA (dX,dY)*180/pi() + 90-CH
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Since dA will be a number from 0 to 360, the robot may have to turn to face the target in the longer direction. To make the turning more ef cient we need to check to see if the turn is larger than 180 and if so make the robot turn the other way which would be the shorter angle and thus more ef cient (see this later on Lines 40 41 of the code in Fig. 4.4).
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REMOTE CONTROL ALGORITHMS
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01 MainProgram: 02 gosub Draw_Obstacles 03 rlocate 400,200 04 rInvisible DarkGray 05 gosub RemoteControl 06 End //====================================================== 07 RemoteControl: 08 rectangle 0,0,150,23,blue,blue 09 s = " "+rGpsX()+","+rGpsY()+","+rCompass()+" UP" 10 s = s+spaces(16-length(s)) 11 xystring 2,2,s //--display the data 12 p = up 13 repeat 14 readmouse x,y,b 15 if b = 1 then Gosub GotoPoint //left mouse button 16 if b = 2 //--right mouse button 17 p = not p 18 rpen p 19 delay(300) //--edge detect the mouse button 20 endif 21 if b <> 0 //--any buttons pressed, update display 22 s = " "+rGpsX()+","+rGpsY()+","+rCompass() 23 if p = Up then s = s+" UP" 24 if p = Down then s = s+" Dn" 25 s = s+spaces(16-length(s)) 26 xystring 2,2,s //--display the data 27 endif 28 until false 29 Return //====================================================== 30 Draw_Obstacles: 31 rectangle 300,300,500,500,red,red 32 circle 100,100,200,200,blue,blue 33 circle 600,500,700,550,magenta,magenta 34 Return //====================================================== 35 GotoPoint: 36 dx = x-rGpsX() 37 dy = y-rGpsY() 38 if dx=0 AND dy = 0 then return 39 Theta = PolarA(dx,dy)*180/pi()+90-rCompass() 40 if Theta > 180 then Theta = Theta-360 41 if Theta < -180 Then Theta = Theta+360 42 rTurn Theta 43 Distance = Round(PolarR(dx,dy)) 44 for I = 1 to Distance 45 if rBumper() & 4 then break 46 rForward 1 47 next 48 Return //======================================================
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FIGURE 4.4 Complex remote control.
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BUILDING BLOCKS
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4.3.2 THE PEN The robot has a pen at its center that can be lowered to leave a trace on the oor. The command to lower and raise the pen is:
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rPen Up/Down, Color
You would type rPen Up to raise the pen and thus stop drawing and rPen Down,Cyan to lower the pen and draw with the color cyan. We will discuss this feature and many uses for it in Chap. 10 and it will be used in Chaps. 8 and 9. For now we will use the pen during our remote control to make the robot draw while it is moving. This effectively converts the robot into a sketcher that can be used to sketch line drawings of any shape. One of the mouse buttons will be dedicated to raising and lowering the pen. The robot considers any color drawn on the screen to be an obstacle and will report an error if you try to make it move forward into the object. However, there are times when you want certain colors to be considered as nonobstacles. For example, you may have a beacon hanging from the ceiling above the room, or you may have a line drawn on the oor. These colors are not to be considered as objects and we need a way of telling the robot to ignore these colors if it encounters them. Additionally, as you have seen in Chap. 3, sensors like rBumper(), rFeel(), and rLook() will report the presence of obstacles, so if we designate some colors as invisible these sensors will ignore these colors. We do this by using the command:
rInvisible Color{,Color...}
This command tells the robot to consider the list of colors given as either, lines on the oor, or as beacons up in the air. In effect they become invisible to the robot and its sensors. Some sensors will override this and look for a speci ed color. We will discuss these sensors later. You can specify a minimum of 1 color or a maximum of 15. You can use the color names as described in Sec. B7.6 or the number corresponding to the color. Using the name is a lot clearer and easier to remember. When the robot draws with the pen it will leave a trace on the oor in the speci ed color. If you do not tell the robot to consider this color as invisible it will report a crash error if it encounters the color later. Thus in this simulation we will use the rInvisible command to tell the robot to ignore the color drawn by the pen. Also, as you may notice from reading the description of the rPen command in Sec. C.9 you do not need to specify a color when you issue the rPen command. If you do not specify a color then the rst color on the list given to the rInvisible command will be used as the color to draw when the pen is down. 4.3.3 SUBROUTINES The algorithm in Fig. 4.4 uses a programming construct called a subroutine. Think of a subroutine as a tool that completes a task. When you use a tool you usually do not care how the tool accomplishes its task. In this case the tool is the subroutine. We will discuss subroutines in detail in Chap. 5.
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