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Notice this is very different from checking to see if rFeel() is equal to 3, which means both of the right-hand sensors must be triggered together and none of the others can be triggered. Logical operations are a great help when analyzing sensory data, but there are other ways that can be more ef cient or more appropriate in certain situations. 5.4.1.3 Bitwise Operations Below are two expressions that will perform almost the same test as the one in the previous section. That statement was true if either of the right infrared sensors were pressed alone. Both statements below will be true if either or both bumpers are pressed. Let s see how they work.

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Also,

(B.3)

rFeel() bAND 3 rFeel() & 3

(B.4)

f (x) dx (with the de nite integral on the right falling under the original de nition).

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In the above two statements, the RobotBASIC operators & and bAND (two options for doing the same operation) cause the infrared values to be bitwise ANDed with the number 3 (binary 0011). Bitwise simply means the values of each bit position of the two numbers are ANDed together. This means the answer for each position will be a one, only if that bit position in the rst number and the same bit position in the second number, are both ones. Lets look at some examples in Fig. 5.6 to make this clearer. The number we are bANDing with the sensor value is referred to as a mask because it hides some positions (using zeros in the mask) while allowing some to go through unchanged (using ones). As you can see from Fig. 5.6 the expression will be true when either or both of the positions speci ed by the mask is a one because the only bit positions in the sensor value that are not masked are those where the mask is a one. In this example, the output will be false only if neither of the speci ed sensor positions is triggered. As we proceed through the text, you will see how the use of bitwise and logical operations can help in analyzing the meaning of all sensory data so that the robot can make decisions on its own. Refer to Sec. B.7.5 for complete information on all the logical and bitwise operations available in RobotBASIC.

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If the angle is measured from SA, shown as in Fig. B.1c, then, since = 180 + , the polar equation becomes

(B.5)

Under this extended de nition, interchanging the limits of integration in any de nite integral reverses the algebraic sign of the integral. Moreover, the equations of Theorems 30.2, 30.3, and 30.4 now hold for arbitrary limits of integration a, b, and c.

FIGURE 5.6 Results when various bumper conditions are bitwise ANDed with the number 3 (0011).

For the ellipse, e < 1. Referring to Eq. (B.4), when = 0 , r = p/(1 e). Since e < 1, r is positive. At = 90 , r = p, and at = 180 , r = p/(1 + e). Thus r decreases from a maximum of p/(1 e) to a minimum of r = p/(1 + e), the locus of r describing the closed curve A BMA (Fig. B.2). Also, since cos( ) = cos , the curve is symmetrical about the axis, and the closed figure results (Fig. B.2a). The length AA is known as the major axis of the ellipse. The semimajor axis a = AA /2 and e are the parameters normally specified for an ellipse. The semilatus rectum p can be obtained in terms of these two quantities. As already shown, the maximum value for r is SA = p/(1 e) and the

(B.6)

RoamAround: while true // forward until an object is found while rFeel( )=0 rForward 1 wend // try to intelligently turn away from the object if rFeel()&3 then Ta = -45 // object on right,turn left if rFeel()&24 then Ta = 45 // object on left,turn right if rFeel()&4 then Ta = 160 // object infront,turn around // turn Ta deg. plus a random amount no more than 40 deg. rTurn Ta+random(40)*sign(Ta) wend Return

For any subdivision a = x0 < x1 < x2 < < xn 1 < xn = b of [a, b], the approximating sum (30.1) is

(B.7)

FIGURE 5.7 This subroutine shows one method for making our robot more intelligent as it roams the screen.

When = 360 ,

[since f (x) = 1 for all x]

(B.8)

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