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//============================================================= //--- Subroutine PlaceRobot //--- Inputs : BcnClr,LnClr,RobotSize,SlipValue,NodesCount //--- Outputs : RobotNode,RobotX,RobotY,RobotHeading //--- Calls To: none //------------------------------------------------------------PlaceRobot: rLocate 558,565,0,RobotSize rInvisible LnClr rSlip SlipValue rIgnoreCharge false RobotNode = NodesCount-1 RobotX = 558 RobotY = 565 RobotHeading = 0 Return //============================================================= //============================================================= //--- Subroutine GotoPoint //--- Inputs : x,y //--- Outputs : none //--- Calls To: CheckObstacles, ForwardRobot, TurnRobot //--//--- this routine turns the robot towards the location x,y //--- and then moves the robot there. If there is an object //--- in the way it continues to wait until the obstacle moves //--- away then resumes moving towards the point. It also uses //--- the new subroutines ForwardRobot and TurnRobot inplace //--- of rForward and rTurn to maintain an INS position. //------------------------------------------------------------GotoPoint: dx = x-RobotX dy = y-RobotY if dx=0 AND dy = 0 then return Theta = PolarA(dx,dy)*180/pi()+90-RobotHeading if Theta > 180 then Theta = Theta-360 if Theta < -180 Then Theta = Theta+360 TurnAmount = Theta gosub TurnRobot for i=1 to round(PolarR(dx,dy)) gosub CheckObstacles if not Obstructed ForwardAmount = 1 gosub ForwardRobot else i = i-1 endif next Return //============================================================= //============================================================= //--- Subroutine DockWithCharger //--- Inputs : NodesCount,ChargeDelay //--- Outputs : none //--- Calls To: MoveToRoom, ForwardRobot, TurnRobot //--//--- makes the robot move to the charge room. Once there it //--- turns around and docks with the charging station with //--- its back. It keeps looping to ensure a North heading //--- Also it uses ForwardRobot and TurnRobot inplace of //--- rForward and rTurn to maintain an INS position //-------------------------------------------------------------

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on one of the standard TV channels. The TV s tuner picks up the signal and displays it. These transmitters have a limited range of a few hundred feet. The second type is more expensive. This type transmits well above TV frequencies into the 900-megahertz (MHz) range, and the TV requires a down converter to display the video. The down converter receives the 900-MHz signal and down converts it to a standard TV frequency. These units have a much greater range and better fidelity. The unit used in this prototype transmits directly to a TV set on its VHF (Channel 14) channels (see Fig. 14.4).

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In theory, authentication tokens enable the use of single sign-on (SSO) systems. As the name implies, SSO systems allow users to use an authentication token to sign on once to all applications they require access to. At the moment, true SSO is more or less a theoretical concept. In reality, even systems that use authentication tokens may have reduced sign-on capabilities.

The line width is whatever was set by the last LineWidth command issued. The line color will be what is speci ed by ExprN2, or the rst color in the invisible colors list. The color drawn by the pen will be considered an obstacle unless it is in the list of invisible colors.

The radio-control (R/C) system is specially designed for blimps (see Fig. 14.5). It is extremely lightweight. The propulsion unit is a twin turbo fan that attaches to the underside of the blimp. Each turbo fan is bidirectional, and each is controlled by its own channel on the two-channel transmitter. This helps the maneuverability of the blimp. While one turbo fan pushes forward, the other pushes backward, helping turn the blimp quickly. The pillow blimp ready for the telepresence system is shown in Fig. 14.6. A close-up of the turbo fan, miniature CCD camera, and TV transmitter is shown in Fig. 14.7. Going further The blimp as it stands is a telepresence system. By placing autonomous navigation in it, we can convert the blimp into a flying robot.

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