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The magnitude of the r vector is r 5 2( 6500)2 7632.2 km Substituting the angle values in Eq. (2.33b) gives 0.567 ~ R 0.25 0.785 The vector components in the IJK frame are rI rJ rK 0.567 0.25 0.785 0.25 0.856 c 6500 d 4000 0.453 0.25 0.856 0.453 (4000)2

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In this section the rst style remote control is used to test all the sensors of the robot while moving it around with the remote controller. This will help in understanding how the robot sees its environment. We will combine the keyboard and mouse as a remote controller. Study the program code to see how this is done. Essentially, without considering the mouse, the remote controller is similar to what we developed in Fig. 4.1. You saw in Chap. 3 that the robot has many sensors. The program in Fig. 4.6 will show the status of many of these sensors while the robot moves around. Using this program you can maneuver the robot over lines and in the vicinity of obstacles and observe how all the sensors are affected (see Fig. 4.7). This can help in understanding what the robot sees and can be very valuable while developing algorithms that use sensors to allow the robot to move autonomously. The program will not be discussed in detail. Many of the techniques used in it will be seen in programs in future chapters and will be discussed then. However, do notice the way the display text is formatted to appear appealing on the screen. Also notice the use of the string manipulation functions Instring(), Length(), and sRepeat() and how the function Bin() is used to convert a number to its binary representation.

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4685.3 5047.7 km 3289.1 The magnitude of the r vector in the IJK frame is r 5 2( 4685.3) 7632.2 km This is seen to be the same as that obtained from the P and Q components.

4.5 Summary

34.5 Quick Formula II: Proof:

(5047.7)

( 3289.1)

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In this chapter you have: Seen various methods for remote controlling the robot. Explored I/O commands to accept input from the user and display data to the user. WaitKey, GetKey, ReadMouse, Print, and XYString. Examined some mathematical functions and used them in combination with the GPS and compass instruments of the robot. PolarA(), PolarR(), and Pi(). Been introduced to the rPen feature on the robot. You will use this feature in more interesting projects in Chaps. 8, 10, and 11. Learned about ow-control Structures like the for-next, while-wend, and repeat-until loops, and how they can be used to make the program repeat sections of code in a controlled manner. Been introduced to the gosub command and subroutines and how they can make writing programs easier by dividing the tasks into smaller and easier subtasks. This principle will be discussed in much more details in Chap. 5 and will be used throughout the book. Now, try to do the exercises in the next section. If you have dif culty read the hints.

The earth station s position is given by the geographic coordinates of latitude lE and longitude fE. (Unfortunately, there does not seem to be any standardization of the symbols used for latitude and longitude. In some texts, as here, the Greek lambda is used for latitude and the Greek phi for longitude. In other texts, the reverse of this happens. One minor advantage of the former is that latitude and lambda both begin with the same la which makes the relationship easy to remember.)

f (x) dx = ln f (x) + C. f (x) 1 f (x) f (x) [by the chain rule]

MainProgram: gosub Environment rlocate 50,200,90 rInvisible Cyan while true getkey k readmouse x,y,b B = rBumper() K = char(k) if (k="a" or b = 1) and (not(B & 1)) then rForward -1 if (k="s" or b = 2) and (not(B & 4)) then rForward 1 if k="w" or b = 11 then rTurn -1 if k="z" or b = 3 or b = 12 then rTurn 1 if InString("aswz",k) or b <> 0 then gosub DisplayData wend End //============================================================= DisplayData: xystring 300,0 ,rChargeLevel(),"% " xystring 300,20,rPoints()," " xystring 300,40,rCompass()," " xystring 300,60,rGpsX(),",",rGpsY()," " B = rBumper() Bb = sRepeat("0",4-Length(Bin(B)))+Bin(B)+" "

(12.5

12) 0.5

Dx (ln f (x) ) =

F = rFeel() Fb = sRepeat("0",5-Length(Bin(F)))+Bin(F)+"

1.154 3

av15 2 av12 3 (12.5 2 12) 15 2 12 0.0335 2 0.0168 3 0.5 3

xystring 140,120,"rRange() = ",rRange();"rFeel()

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