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If this problem occurs during the process of developing a program, you may be puzzled as to why the robot collides with objects that you believe should have been detected by the code. This could certainly be true if you were unfamiliar with the blind spots associated with infrared sensors. If you could obtain the value of the sensors immediately before, during, and after the collision you would have the data needed to discover the problem. 6.4.1 THE Debug COMMAND In RobotBASIC there is a special form of the Print-statement called Debug. This command can be used just like a Print-statement, but it differs in several important ways. Instead of printing on the terminal screen like the Print-statement, the Debug-statement prints in a special window that opens the rst time it is used. However, it does not just print, it also causes the program to pause execution so that you can see what the robot is doing to cause the data being displayed. Insert the following statement right after the rst wend in Fig. 6.1 (comment out the other debug statement already there):

(B.31)

CHAP. 35]

Debug An object was detected , rFeel()

This is Eq. (2.29) of the text. An elliptical reflector has focusing properties, which may be derived as follows. From Fig. B.6,

But AS = a(1 e), as shown by Eq. (B.8); hence,

(VI) (ab)x = ax bx . ax a x = x. b b u )v = auv . (VIII) (a (VII)

You also need to place the statement DebugON at the beginning of the main program. When the program is run (and you draw some objects) the program will stop and the debug window will appear when an object is encountered and show a screen similar to Fig. 6.2. The fact that the program stops is important. It gives you the opportunity to analyze the robot s situation at the instant the Debug-statement was executed.

But SP = r1 and S P = r2, and hence,

(B.32)

The size of the debug window will probably be larger than what is shown in Fig 62 You may resize it and reposition it as you wish Notice that the debug window shows that an object has been encountered and that the infrared sensor data is 8 This means that the object activated the sensor at 45 left of the robot s heading You can also view the terminal screen and see the position of the robot compared to its environment This allows you to better analyze the sensory data being displayed If, while in the process of debugging, you happen to lose the debug window behind other windows, you can bring it back up to the top of all windows by going to the Editor Screen and either pressing Ctrl D or selecting the menu option Bring Up Debug from the Run menu.

35.3 THE FUNCTION ex For a particular choice of the positive real number a, the function ax becomes the inverse of the function ln x.

This shows that the sum of the focal distances is constant, or in other words, the ray paths from one focus to the other which go via an elliptical reflector are equal in length. Thus, electromagnetic radiation emanating from a source placed at one of the foci will have the same propagation time over any reflected path, and therefore, the reflected waves from all parts of the reflector will arrive at the other foci in phase. This property is made use of in the Gregorian reflector antenna described in Sec. 6.15.

These actions have no effect if there is no active debugging session going on 642 STEPPING THROUGH A PROGRAM If the mouse is used to click the Step button on the Debug Screen (or pressed Enter on the keyboard), the program will proceed where it left off and continue executing until it encounters the Debug-statement again When it does it will stop and show the new sensory data in the window immediately below the old data If you continue pressing Step (or Enter) you can continue to gather data each time an object is encountered When the window becomes full you can clear it with the Clear button or just let it scroll upward as new data is added You can also view a table of all the variables in your program, all in one screen, if you press the View Variables Table button.