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MainProgram: gosub DrawLine goSub InitializeRobot rForward 10 // move the robot over to the line goSub FollowLine End //======================================================== InitializeRobot: //-- place the robot at the beginning of the line //-- and face it left 90 degrees rLocate 200, 71, -90 rInvisible Green //-- Green is a line not an object Return //======================================================== DrawLine: linewidth 4 setcolor Green gotoxy 170,71 lineto 160,72 lineto 145,80 lineto 140,90 lineto 130,100 lineto 125,110 lineto 120,140 lineto 130,200 lineto 140,250 lineto 130,270 lineto 145,300 lineto 200,350 lineto 300,325 lineto 450,375 lineto 450,450 lineto 600,450 lineto 600,400 lineto 650,200 lineto 500,350 return //======================================================== FollowLine: //-----Line Following algorithm //--we will put code here to make the robot follow a line Return

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FCC FDM FDMA FEC FFSK FM FSK FSL FSS GEO GFC GHz GOES GPS GSM GSO HAN HDTV HEC HEO HP HPA HPBW IDU IEC IEE IEEE IMMARSAT INTELSAT INTERSPUTNIK IOT IP IRD ISBN

(VII)

Federal Communications Commission Frequency-division multiplex Frequency-division multiple access Forward error correction Fast FSK Frequency modulation Frequency-shift keying Free-space loss Fixed satellite service Geostationary earth orbit Generic flow control Gigahertz Geostationary operational environmental satellite Global Positioning Satellite Global system for mobile communications (originally Groupe Spe cial Mobile) Geo-synchronous orbit Home area network High-definition television Header error control Highly elliptical orbit Horizontal polarization High-power amplifier Half-power beamwidth Indoor unit International Electrotechnical Commission Institution of Electrical Engineers Institute of Electrical and Electronic Engineers International Maritime Satellite (Organization) International Telecommunications Satellite (Organization) International Sputnik (Satellite Communications) In-orbit testing Internet Protocol Integrated receiver-decoder Integrated Satellite Business Network

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the output screen when the program in Fig. 7.1a is run. For now FollowLine is left empty so no line following will occur.

ISL ISO ISP ISU ITU ITU-T IWU JPEG LAN LANDSAT LDPC LEO LHCP LLR LNA LNB LOS LSAT MA MAC MAC MAN MARISAT MEO METOP METSAT MHz MPEG MSAT MSK MUX NACK NASA NCC

ax a x = x b b By (VI),

RobotBASIC s robot has three line sensors. One is mounted directly in front of the robot, and the other two are spaced 10 left and right of the front sensor. Figure 7.2 shows this setup. The scale has been enlarged to make the setup obvious. Refer to this diagram to visualize the action of the algorithms that will be developed.

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Intersatellite link International standards organization Internet service provider Iridium subscriber unit International Telecommunications Union ITU-telecommunication standardization sector Interworking unit Joint Photographic Experts Group Local area network Land survey satellite Low density parity check Low earth orbit Left-hand circular polarization Log likelihood ratio Low-noise amplifier Low-noise block Loss of signal Large satellite (European) Multiple Access Monitoring alarm and control Multiplexed analog compression Metropolitan area network Marine satellite (communications) Medium earth orbit Meteorological operations Meteorological satellite Megahertz Motion Pictures Expert Group Mobile satellite (for mobile communications) Minimum shift keying Multiplexer Negative acknowledgment National Aeronautics and Space Administration Network control center

NCS NESS NNI NOAA NORAD NPOESS NRT NSP NTSC OBP ODU OIG PAL PC PCM PCR PLL PNNI POES POTS PSK PSTN PTI PVC PVP QoS QPSK RADARSAT RDSS RFC RHCP RT

With three sensors there are many choices for how to develop a line-following robot. You could, for example, use only the front sensor and have the robot constantly swing left and right as it attempts to keep the sensor on the line. Such an algorithm can work, but the robot follows the line with an oscillating snaking sort of motion that is far from ef cient. On deeper analysis, you might decide that a better implementation would be to use the two outside sensors. In this case, the robot should try to keep the line between the two

(VIII)

Network control station National Earth Satellite Service Network nod interface (also network network interface) National Oceanic and Atmospheric Administration North American Aerospace Defense Command National polar operational environmental satellite system Non real time Network service provider National Television System Committee On-board processing Outdoor unit Orbital information group Phase alternation line Personal computer; personal communications Pulse-code modulation Peak cell rate Phase-lock loop Private NNI Polar operational environmental satellite Plain old telephone service Phase-shift keying Public service telephone network Payload type indicator Permanent virtual circuit Permanent virtual path Quality of service Quaternary phase-shift keying Radar satellite (for remote sensing of earth s surface and atmosphere) Radio determination satellite service Request for comments Right-hand circular polarization Real time

Example if rSense( ) & 1 If rSense( ) = 4 if rSense( ) & 6 if rSense( ) a = rSense( ) if (a = 2) if a & 7 if a = 7

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