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color the sensors are sensing. With these sensors you can look at the ground around the robot s perimeter and see what color it is. The function enables you to create almost any combination of sensors you wish around the perimeter of the robot. We are going to create 5. Read about this function in Sec. C.9 before proceeding. We are going to set up a sensor at 90 to the left, another at 45 to the left, one on the front and one on the right at 45 and a nal one at 90 to the right. We will write code to make the sensors return a value of 0 if the sensor is seeing the table and a value of 1 if it is not (i.e., over the edge). It is necessary to be familiar with binary numbers and bitwise operators to appreciate the actions of the program being developed here. Review Chaps. 3, 4, and 5 if you need a refresher in these concepts. As you have seen in Chap. 3, the rFeel() function returns a number where the rst ve bits from the right represent the state of each of the ve infrared sensors on the robot. We are going to set up the special ground sensors to return a number in exactly the same manner. To summarize:
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Each sensor looks at the ground just at the perimeter of the robot and is redeemed to be on if there is no table underneath it (returns a color not equal to the table color). There are ve sensors 90 and 45 to the left and right and one at the front. The sensors are combined in one number that ranges from 0 to 31, where the most signi cant bit (MSB) is 90 degrees to the left. The least signi cant bit (LSB) is 90 to the right. The number 14 (01110) means that the sensors at the front and at 45 to the left and right do not sense a table underneath them, while the others are still sensing the table.
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The subroutine TestSensors in the listing in Fig. 9.3 (Lines 52 59) shows how this is achieved. Notice the use of the | (bOR) operator to create the nal number. Also notice how the for-loop creates the ve sensors at the correct angle. The subroutine will set up the variable Sensors to have the required value. So in place of using rSense() we call the subroutine TestSensors. Then we use the same kind of checking on the variable Sensors as described in the previous section. To allow the sensors to work correctly we will make the table white and the oor gray. But we will need to issue an rInvisible Gray command as you will see on Line 12. This is due to the fact that the robot will think that the gray color is an obstacle (see Sec. C.9 for a detailed discussion on the Robot color arrangement). If the gray color is set as an invisible color the robot will not consider it an obstacle and will be able to move into that area (dropping off the table). This way we would not be cheating in the simulation. Review the program in Fig. 9.3 and run it before proceeding with the following discussion. The program s main routine sets up the environment (SetTable), locates the robot, sets the required color parameters, and then calls the TableRoam subroutine (Lines 17 45) which will be executed continuously due to the while-loop. The TableRoam subroutine is not very different from the Con ne subroutine in Fig. 9.2. The action is very similar except for using Sensors [not rSense()] and the added obstacle avoidance. The elseif-statements (Lines 32 and 36) re ect the fact that there
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