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17.3.1 CONTROL BY A MICROCONTROLLER One of the easiest and most straightforward ways of using the algorithms developed in this book with other robots is to translate the RobotBASIC programs into the native language of the target robot s microcontroller. We will use the PBASIC language used by Parallax s BS2 controller, but the principles shown here can be applied to any language on any microcontroller. Let s look at a speci c example to make the translation process easy to follow. If you recall, Chap. 7 developed algorithms for following a line. Figure 17.13 shows one of the algorithms from that chapter. In order to follow a line, the code in Fig. 17.13 relies on the two RobotBASIC commands, rForward and rTurn and the function rSense(). The command rForward moves the robot forward a speci ed amount. Likewise, rTurn rotates the robot as requested. The function rSense() returns a number with the lower three binary bits representing the line sensors as discussed in Chap. 7. In order to convert the code in Fig. 17.13 to Parallax s PBASIC, we need three subroutines to duplicate the functionality supplied by RobotBASIC. We will assume we have these subroutines and three variables as described below. We are using PBASIC syntax here to provide a concrete example, but the concepts (and even most of the syntax) apply to many other microcontroller languages. If you are familiar with the language of the

when n 3 A binary 1 at the input to the encoder results in a 111 codeword at the output, and a binary 0 at the input results in a 000 codeword at the output At the receiver, the logic circuits in the decoder produce a 1 when 111 is present at the input and a 0 when 000 is present It is assumed that synchronization is maintained between encoder and decoder If a codeword other than 111 or 000 is received, the decoder detects an error and can request a retransmission (ARQ) FEC can take place on the basis of a majority vote.

(a) Dx (x 3 + x 2 ) = Dx (x 3 ) + Dx (x 2 ) = 3x 2 + 2x (b) Dx x 2 1 x = Dx (x 2 ) Dx 1 x 1 = 2x 2 x 1 = 2x + 2 x

In this case, the logic circuits in the decoder are designed to produce a 1 at the output whenever two or three 1s occur in the received codeword (codewords 111, 101, 011, and 110) and a 0 whenever two or three 0s appear in the codeword (codewords 000, 001, 010, and 100) An odd number of repeats is used to avoid a tied vote Errors can still get through if the noise results in two or three successive errors in a codeword For example, if the noise changes a 111 into a 000 or a 000 into a 111, the output will be in error whether error detection or FEC is used If two errors occur in a codeword, then the majority vote method for FEC will result in an error.

//============================================================= //--- Subroutine MapOffice //--- Inputs : none //--- Outputs : MapGraph[], Nodes[], NodesCount //--- Calls To: FindNode //--//--- The Nodes[]array is a data base with name of the //--- node and the x,y coordinates of it. //------------------------------------------------------------MapOffice: //Rooms Data OF;"BreakRoom" , 35, 99, "Office1" ,345, 83 Data OF;"Office2" ,641, 44, "Office3" ,685,346 Data OF;"Office4" , 45,351, "Office5" ,660,500 Data OF;"HallWay1" ,343,570, "HallWay2", 82,570 //Doors Data OF;"BreakRoom_D", 35, 139, "Office1_D",305, 141 Data OF;"Office2_D" ,585, 142, "Office3_D",757, 240 Data OF;"Office4_D" , 45, 468, "Office5_D",597, 455 //Corridors Data OF;"Corridor1" , 35, 186, "Corridor2" ,305, 186 Data OF;"Corridor3" ,420, 186, "Corridor4" ,585, 186 Data OF;"Corridor5" ,757, 186, "Corridor6" ,420, 515 Data OF;"Corridor7" , 45, 515, "Corridor8" ,420, 455 Data OF;"Corridor9" ,558, 455, "Corridor10",420, 316 Data OF;"Corridor11",155, 515 //Charging Station Data OF;"ChargeRoom_D",558, 508, "ChargeRoom",558,554 NodesCount = MaxDim(OF,1)/3 Dim Nodes[NodesCount,3] MCopy OF,Nodes Data Edges;"BreakRoom","BreakRoom_D","Corridor1","Corridor2" Data Edges;"Office1_D","Office1",-1 Data Edges;"Office2","Office2_D","Corridor4","Corridor5" Data Edges;"Office3_D","Office3",-1 Data Edges;"Corridor3","Corridor10","Corridor8","Corridor6" Data Edges;"HallWay1","Corridor11","Corridor7",-1 Data Edges;"Office4","Office4_D","Corridor7","HallWay2",-1 Data Edges;"Office5","Office5_D","Corridor9","ChargeRoom_D" Data Edges;"ChargeRoom",-1 Data Edges;"Corridor2","Corridor3","Corridor4",-1 Data Edges;"HallWay2","Corridor11","Corridor6","Corridor9" Data Edges;"Corridor8",-1 Dim MapGraph[NodesCount,NodesCount] MConstant MapGraph,0 NName = Edges[0] gosub FindNode FNode = NodeNumber for MO_I = 1 to MaxDim(Edges,1)-2 if IsNumber(Edges[MO_I]) NName = Edges[MO_I+1] gosub FindNode FNode = NodeNumber MO_I = MO_I+2 endif NName = Edges[MO_I] gosub FindNode TNode = NodeNumber if FNode >= 0 and TNode >= 0

However, the probability of two or three consecutive errors occurring is very much less than the probability of a single error This assumes that the bit energy stays the same, an aspect that is discussed in Sec 117 Codes that are more efficient than repetitive encoding are generally used in practice As a matter of definition, a code is termed linear when any linear combination of two codewords is also a codeword For binary codewords in particular, the linear operation encountered is modulo-2 addition The rules for modulo-2 addition are: 0 0 0 0 1 1 1 0 1 1 1 0.