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Copyright 2008 by The McGraw-Hill Companies, Inc. Click here for terms of use.
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A robotic arm or other form of manipulator can be transported to where it can perform useful work. A laboratory of instruments and analyzers can be moved around hostile or inaccessible environments.
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All of these examples have one thing in common: the robot must move from point A to point B (perhaps via point C) and wait for further commands. In this chapter we will design a robot to simulate an of ce messenger that navigates between rooms on the of ce oor according to user requests.
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15.1 The Design Process
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Before doing any coding the speci cations of the project should be outlined. Once the requirements are known, we analyze what tools and processes are needed to achieve the speci ed requirements. Often the tools needed to create a project have been designed in previous projects. These tools may have to be adapted to work together and/or made to function in a slightly different manner. The process of determining what tools need to be developed from scratch and which ones can be adapted from previous projects is an essential step in the design process. A complex task should be divided into a set of less complex subtasks. If these subtasks are complex, then they too should be divided. This process is repeated until you end up with a set of sub and sub-sub tasks that are easy to tackle and design. Some tasks have inputs and no outputs, some have outputs and no inputs, but more often they have both inputs and outputs. The task operates on the inputs in a certain fashion and generates outputs. It is extremely important to be absolutely clear as to what inputs a task requires and what outputs it is going to generate. Knowing the inputs and outputs of a task is part of understanding how it achieves its functionality. In fact you can consider each subtask as a project in its own right and apply the entire design process to it as you would the main project. Design is an iterative recursive process where you may have to repeat the same process on subtasks and repeat the entire process multiple times until you arrive at a working design. When the design process appears to be complete and you start coding, aws in the design that cause you to repeat the entire process will become apparent. The nal product is in uenced as much by the designer s experience and preferences as by the tools available to achieve the requirements.
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15.2 An Of ce Messenger Robot
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We will develop a program that allows a user to command the robot to move from one room to another in an of ce environment. When it arrives at its destination, the robot waits for further commands. If the robot does not receive any further commands within a certain time it will go to a charging station and dock with the outlet. The robot will also return to this station when its battery discharges below a certain threshold.
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15.2.1 THE OFFICE SPECIFICATIONS In an of ce environment it is reasonable to assume that there is a network of computers that allow each employee to communicate with the robot when required. For this project we will assume that the of ce is a single oor and robot friendly (i.e., no stairs or steps). We will also assume that the doors are always open or that they open automatically when the robot approaches (see Exercise 1). We will limit the robot to moving around the of ce, along a network of paths that guarantees access to all rooms in the of ce. Also, we assume that any obstacles in the robot s path will be transient objects (such as people) that will eventually move out of the way. Additionally, when the robot is instructed to move to a room it will move to a predetermined spot in that room (see Exercise 2). The of ce will have an area designated for the robot s maintenance and recharging. This area will not be available as a destination point in the command program. The robot will go there on its own whenever it requires a charge or has no pending tasks to accomplish. To maintain simplicity, the command system will not allow a user to issue a request if the robot is still obeying a previous command (see Exercise 3). Further speci cations may arise while designing the individual subroutines and will be discussed as they become needed. Remember, the design of each subroutine should be approached as if it were a project on its own except that consideration must be made for how it will interact with the overall system. We will discuss what tools are to be used and limitations to be tackled in the design of each subroutine. The entire project will be a set of subroutines (as you have seen before). 15.2.2 THE MAIN PROGRAM AND SUBROUTINES HIERARCHY CHART As an overall procedure for achieving the above requirements we will display instructions to the user, then draw a simulation of the of ce environment, initialize and place the robot in the of ce. Finally, we will use an endless loop to wait for a command from a user and execute it. Figure 15.1 shows this process in code. The set of variables above the
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//---Variables TimeOutLimit = 60 LowChargeLimit = 20 ChargeDelay = 2000 RobotSize = 15 LnClr = Cyan BcnClr = Red SlipValue = 0 //=========================================================== MainProgrm: gosub DisplayInstructions gosub DrawOffice gosub MapOffice gosub PlaceRobot while true gosub WaitForCommand gosub MoveToRoom wend End
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