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In Fig. 6.20 the switch labeled A keeps the I/O pin at a logic high until the switch is closed. Once closed, the I/O pin is brought to ground, or a logic low. When the microcontroller senses switch closure, it can perform any number of operations or control functions. In our example it will blink an LED. Keep in mind that the LED may represent a transistor, transducer, electronic circuit, or another microcontroller/computer. The program for the PICBASIC compiler is as follows:

If the turning around is almost 180 whenever it senses the line with all or just the front sensor, then it will almost always go back to where it came from, and if that happens to be from a long run while straddling the line until it comes to the corner, then it will just turn around and go back to the other corner This is not very effective behavior The robot should cover more of the inside area, especially if it is supposed to be doing some useful work in that area Therefore, even though we have solved the problem of escaping, we have not solved it in a satisfactory manner The algorithm needs further re nement There is also another problem If the robot approaches a corner at exactly 45 to it, then the left and right sensors would trigger together, but not the front one.

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As stated previously, a CRL is nothing more than a time-stamped, digitally signed list of revoked certificates. The following section describes, in detail, the various fields that make up a CRL. Figure 6-3 illustrates these fields.

rSense() would return a value of 5 Have we handled the value 5 in our algorithm There is no code in the algorithm that handles this situation What is the result of this Since the sensors are triggered, no forwarding can occur, and since the situation is not handled, no turning occurs either This means that the robot will stay where it is without turning or forwarding; it is stalled How should this situation be handled Can it be included in the third ifstatement The answer to these questions depends on what action we would like the robot to take in the situation..

PICBASIC Compiler REM test switch low Initialize variables input 4 start: if pin4 goto start blink: 0 then blink Blink routine If switch is low, then blink LED If not, check switch again Set pin RB4 to read switch

Version Signature Algorithm Identifier Issuer Name This Update (Date/Time) Next Update (Date/Time) User Certificate Serial Number / Revocation Date CRL Entry Extensions

9.1.3 A BETTER ALGORITHM The program in Fig. 9.2 solves most of the problems mentioned above, except for the tendency of the robot to protrude outside the line limit. In the situation being simulated this is not a problem. It is tolerable that some of the robot s body exits the area as long as most of it stays con ned. The algorithm in Fig. 9.2 is very acceptable in that the robot does not get stuck in a corner, nor does it escape. The robot also covers the inside area more ef ciently because it tends to spend more time inside the area than around the periphery. The reason this algorithm works better than the previous one is the use of random numbers. The robot does not just forward, it also turns on occasion (10% of the time as set by the variable F_RandomTurn_Percent). This causes the robot to cover more of the inside area. Additionally when it is turning to avoid the line it turns more of an angle with an additional random value. This makes the robot turn away from the line at a greater angle, minimizing the possibility of approaching the line at too shallow an angle, which causes the problem of some of the body going outside the line due to hardware limitations. The set of constants de ned at the top of the program are very important. The value for F_RandomTurn_Percent de nes what percent of time the robot will turn in addition to forwarding. The amount of turn is de ned in F_RandomTurn. The constant LineAvoidA de nes the amount the robot turns to avoid the line. In addition, a random amount is added

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