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Bots / The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 8

212 The Ultimate Palm Robot

TEA code is compiled using the command steep followed by the quoted
program name:

steep "chase.tea"

This will take the TEAsource code and compile it into a form that can be used
by the virtual machine on the BrainStem controller. If you are running on a PC,
the compiled file will be placed into the \aObject directory. The name of the file
will be the same, but with a new extension: .cup. Thus, you now have a cup of
TEA. If you are running on a Palm, the cup file will be stored as another memo.

The Robot Geek Says

Examining a cup File
Although you can look at a cup file in its native format, it won’t do
you much good since you don’t speak or read in byte code. However,
you can process the byte code in the cup file into a somewhat more
readable format. To create a readable file out of byte code in a cup file,
you can
✖ Type ast simple on the console command line. This creates a file
named simple.ast that shows the annotated syntax tree of the program.
✖ Type dsm simple on the console command line. This creates a file
named simple.dsm that contains the assembler style machine code
that corresponds to the byte code.

Downloading and Launching Programs

After you successfully compile the TEA program, you need to load it to the
BrainStem controller and launch the program. This is accomplished using
the load and launch commands. Launch the Console application. With the
BrainStem connected to the host, switch the robot power on. If the BrainStem
connects to the Console, you should see a green light on the BrainStem start
blinking. A similar light will start blinking in the Console application. If the
programs do not connect, you can try turning the BrainStem on first, then
launching the Console application. Now execute the load command:

load "simple.cup" 2 0

P:\010Comp\Bots\880-6\ch08.vp
Monday, May 12, 2003 1:16:46 PM