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The controller program sends this data and then repeats the entire process of waiting for the next command and so on (see next section and Fig 1721 for a speci c example) The details of how the data is sent and how many bytes to send and receive can be determined by you, if you wish, but you will need to devise a protocol to achieve this..

[A0]

[RFL]

Of course, you will have to create RobotBASIC subroutines that replace all the commands and functions of the simulator in a manner similar to how we translated code for the BS2 earlier in this chapter But, before you consider doing this, there is a better option still 1734 CONTROL BY A REMOTE PC WIRELESSLY USING AN INBUILT PROTOCOL You have seen how easy it is to control our simulated robot using the commands and functions of RobotBASIC Wouldn t it be great if you could use these very same commands to control a real robot You can do this with the built-in protocol provided in RobotBASIC (version 201 and up).

1 12.17 For what nonnegative value of b is the line y = 12 x + b normal to the graph of y = x 3 + 1 3

(12.48)

The protocol provided follows the same principles discussed in the previous section, but instead of having to use raw serial communication commands such as SerIn and SerOut, you can use the very same commands the simulator uses You can say rForward 10 and the command will generate the necessary communications to make a properly prepared real robot execute the command as discussed above You do need to make the simulator know when to use the simulated robot and when to use the real robot This is easily achieved using a special command When you issue the command rCommPort portNumber, the RobotBASIC programming environment enters the nonsimulated mode and starts operating via the serial communications medium to control a real robot Once in the nonsimulated mode, the commands rForward and rTurn no longer animate the on-screen simulation.

Example 12.10 An uplink operates at 14 GHz, and the flux density required to sat-

12.18 Let f be differentiable (that is, f exists). De ne a function f # by the equation f # (x) = lim (a) Find f # (x) if f (x) = x 2 x. Hint: f (x + h) f (x h) h h 0

urate the transponder is 120 dB(W/m ). The free-space loss is 207 dB, and the other propagation losses amount to 2 dB. Calculate the earth-station [EIRP] required for saturation, assuming clear-sky conditions. Assume [RFL] is negligible.

Instead, they automatically send data to the serial port (either real or virtual) identi ed by portNumber (see the RobotBASIC help le or Sec D6 for more information) The data sent from the PC consists of an ID (identi cation) code indicating the action to be taken and a second byte in the form of an integer, indicating the amount to move or the amount to turn You can connect the serial port speci ed to any radio transceiver with serial I/O or you can use a Bluetooth adapter Most Bluetooth USB adapters provide a virtual serial port option so they can be an easy solution, especially since Parallax offers a Bluetooth BoeBot that handles the wireless communication using their EB500 module The important point here is that this option is very exible You can create any type of communication link using nearly any transceivers you wish.

209 dB. Hence,

At the robot end, you will need another compatible transceiver, of course, that is able to communicate with the robot s processor When the robot s processor receives the data from RobotBASIC it needs to call appropriate subroutines based on the ID code It is your responsibility to write these subroutines so that they perform the requested functions If the data received, for example, is the ID for forward and the parameter was ve, then your subroutine must command your robot s motors so that your robot moves forward 5 units It is important to realize that you must write these subroutines because they must be custom designed for your hardware Only you know what type of motors you have and how they are interfaced to your robot s controller.