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Bots /The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 7

Chapter 7 Essential Robot Programming Strategies 165

loop, it will periodically ask the SV203 if sensor 1 has detected an object. If it
has, the program will command the robot to move away from the object, spin
around in one direction, spin around in the opposite direction, and then move
back to where it was. If you read Chapter 5, you may notice that this program
does the same thing as the simple.tea program we looked at there. By showing
you the same program in a different language, you can compare this program
to the same program written in TEA. Then you can write a 500-word essay
comparing and contrasting the two programs. You must have five paragraphs
at a minimum, consisting of introduction, three body paragraphs, and a con-
clusion, with topic sentences for each paragraph. Essays are due next Mon-
day. Send them to Dave for grading.
After we show the complete program listing, we will look at its various
parts in a little more detail. This program is a bit more involved than the ear-
lier Hello World program, so you may want to enter it as a memo in the Palm
Desktop and then perform a hot sync operation to load it to your PDA. So,
without further ado, here is the listing for simple jig program .bas. If you don’t
want to type this into your Palm OS device, we’ve included the source code in
the \Other Applications\SimpleJig directory on the CD-ROM.

# simple jig program .bas

10 open "com1:", 9600 as #5
15 rem draw start button
20 draw -1
25 draw "Stopped",40,70
30 form btn 40,50, 35,15, "Start", 1
35 rem wait for start button to be clicked
40 x$=input$(1) : rem Start button returns chr$(14)
45 if x$ <> chr$(14) then goto 40
50 draw "Running...",40,70
55 range = -1
60 while (1)
65 gosub 1200 : rem read sensor
70 draw "Range value: [" + str$(range) + "] ",2,115
75 if range > 55 then gosub 1000
80 fn wait(1) : rem wait 1 second
85 wend
90 close #5
95 end

1000 : rem jig function

P:\010Comp\Bots\880-6\ch07.vp
Monday, May 12, 2003 4:29:22 PM