RobotBASIC

RobotBASIC is a full-featured, powerful, yeteasy-to-use programming language with an integrated robot simulator. RobotBASlC s inbuilt functions and commands enable full control over the serial and other I/O ports thus providing the ability to directly control external hardware. Additionally... 

RobotBASIC has a specialized protocol for seamlessly implementing wireless control over remote physical robots equipped with the appropriate firmware. Moreover, RobotBASIC may be freely used by students, universities, and researchers, even for end-userapplication development. It can be downloaded from www.RobotBASIC.com. 

While complexprograms and advanced algorithms can be implemented and tested with RobotBASIC, it is not the purpose of this chapter to explore such topics. Instead, we will utilize several unsophisticated examples to demonstrate ease-of use so that potential users can more easily determine if the system can be beneficial for them. 

For many situations, RobotBASIC s simplicity and short learning curve makes its simulator a powerful tool for quickly developing algorithms and prototyping applications. Perhaps the real power though, is its ability to utilize the simulator programs to immediately control real-world... 

Once the rCommPort command has been issued, all robot commands (including rForward and rTum) cease to control the simulation. Instead, they automatically send two bytes to the specified serial port. The first of these bytes is an operation code that identifies the command. The table in Figure 3 shows the codes used for some of the simulator commands. In addition to the standard commands, RobotBASIC also provides an rCommand function that allows the RobotBASIC programmer to implement custom commands needed for their particular implementation. 

Figure 3. These examples of RobotBASIC commands (and their op-codes) are implemented in the internal wireless protocol...

When RobotBASIC receives the five sensory bytes, it automatically extracts the individual pieces of information and uses them appropriately. For example, the rBumper() function used in Figure 1 normally provides the status of the simulated robot s bumpers. After an rCommPort command has been issued though, rBumper will... 

Figure 4. This modified 3pi robot has most ofthe capabilities ofthe RobotBASIC simulator...

Figure 5. This Lego robot is controlled from RobotBASIC using an includable library...

The library approach may also be preferred for robots that have sensory types and configurations that differ dramatically from those on the RobotBASIC simulator because the library can be customized to accommodate the specific needs of the target robot. The downloadable source code for the Lego project serves as template for similar implementations on other platforms. Libraries have also been implemented for more advanced platforms such as robots built by the Robotics Group Inc that uses Wi-Fi (TCP/UDP) and wireless serial communications. 

Since the very same programs used to control the simulator can be used to control real-world robots, the efforts expended on algorithmic development can often be extremely productive. In order to demonstrate this principle we will examine another simple example. Remember, this example was chosen only to demonstrate how easy it is to implement and test an idea with RobotBASIC. More sophisticated robotic behaviors that utilize... 

A simulator can dramatically reduce the time to develop robotic behaviors for both general and ad hoc situations. If there is no need to emulate physical characteristics such as friction or deal with detailed 3D environments, then RobotBASIC is a tool to consider. Its quick-learning curve and... 

Blankenship, J., Mishal, S. (2010). Enhancing the Pololu 3pi with RobotBASIC. Retrieved from http //www.amazon.com/Enhancing-Pololu-RobotBASlC-John-Blankenship/dp/1438276052/ ref=sr l 6 ie=UTF8 qid=1346469953 sr=8-6 keywords=robotbasic... 

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