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Since dA will be a number from 0 to 360, the robot may have to turn to face the target in the longer direction. To make the turning more ef cient we need to check to see if the turn is larger than 180 and if so make the robot turn the other way which would be the shorter angle and thus more ef cient (see this later on Lines 40 41 of the code in Fig. 4.4).

1.0 0.3 0.1 0.03 0.01 0.003 0.001

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2 Dx (ln x) = Dx (x 1 ) = x 2 = 1/x 2 < 0 and, therefore, the graph is concave downward. There is no horizontal asymptote (by Property 12), but the negative y-axis is a vertical asymptote (by Property 13). The graph is sketched in Fig. 34-2. Notice that ln x assumes all real numbers as values.

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01 MainProgram: 02 gosub Draw_Obstacles 03 rlocate 400,200 04 rInvisible DarkGray 05 gosub RemoteControl 06 End //====================================================== 07 RemoteControl: 08 rectangle 0,0,150,23,blue,blue 09 s = " "+rGpsX()+","+rGpsY()+","+rCompass()+" UP" 10 s = s+spaces(16-length(s)) 11 xystring 2,2,s //--display the data 12 p = up 13 repeat 14 readmouse x,y,b 15 if b = 1 then Gosub GotoPoint //left mouse button 16 if b = 2 //--right mouse button 17 p = not p 18 rpen p 19 delay(300) //--edge detect the mouse button 20 endif 21 if b <> 0 //--any buttons pressed, update display 22 s = " "+rGpsX()+","+rGpsY()+","+rCompass() 23 if p = Up then s = s+" UP" 24 if p = Down then s = s+" Dn" 25 s = s+spaces(16-length(s)) 26 xystring 2,2,s //--display the data 27 endif 28 until false 29 Return //====================================================== 30 Draw_Obstacles: 31 rectangle 300,300,500,500,red,red 32 circle 100,100,200,200,blue,blue 33 circle 600,500,700,550,magenta,magenta 34 Return //====================================================== 35 GotoPoint: 36 dx = x-rGpsX() 37 dy = y-rGpsY() 38 if dx=0 AND dy = 0 then return 39 Theta = PolarA(dx,dy)*180/pi()+90-rCompass() 40 if Theta > 180 then Theta = Theta-360 41 if Theta < -180 Then Theta = Theta+360 42 rTurn Theta 43 Distance = Round(PolarR(dx,dy)) 44 for I = 1 to Distance 45 if rBumper() & 4 then break 46 rForward 1 47 next 48 Return //======================================================

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Table 16.2 and Fig. 16.8 reproduced from ITU Recommendation ITU-R PN.837-1 (1994), with permission.

Fig. 34-2

180

4.3.2 THE PEN The robot has a pen at its center that can be lowered to leave a trace on the oor. The command to lower and raise the pen is:

195.37

You would type rPen Up to raise the pen and thus stop drawing and rPen Down,Cyan to lower the pen and draw with the color cyan. We will discuss this feature and many uses for it in Chap. 10 and it will be used in Chaps. 8 and 9. For now we will use the pen during our remote control to make the robot draw while it is moving. This effectively converts the robot into a sketcher that can be used to sketch line drawings of any shape. One of the mouse buttons will be dedicated to raising and lowering the pen. The robot considers any color drawn on the screen to be an obstacle and will report an error if you try to make it move forward into the object. However, there are times when you want certain colors to be considered as nonobstacles. For example, you may have a beacon hanging from the ceiling above the room, or you may have a line drawn on the oor. These colors are not to be considered as objects and we need a way of telling the robot to ignore these colors if it encounters them. Additionally, as you have seen in Chap. 3, sensors like rBumper(), rFeel(), and rLook() will report the presence of obstacles, so if we designate some colors as invisible these sensors will ignore these colors. We do this by using the command:

38019.1 km Equation (3.12) gives the required angle of elevation as El a cosa aGSO d sin bb a cosa 42164 38019.1 sin 46.04 b > 37

v 1 1

As noted in Sec. 3.2, the calculated values for azimuth and elevation provide a guide. Practical adjustments would be made to maximize the received signal. Equation (12.10), with d in km and f in MHz gives: [FSL] 5 32.4 1 20 log d 1 20 log f 5 205.94 dB Adding in the miscellaneous losses, Eq. (12.12) gives the total losses as [LOSSES] 5 [FSL] 1 2 5 207.94 dB The system noise temperature, from Eq. (12.23) is TS Teq Tant 100 70 170 K

rInvisible Color{,Color...}

From Eq. (12.5), with f in GHz and D in ft: G (3.192 f D)2 0.55 (3.192 12.5 1.5)2 1970.1

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