fischertechnik COMPUTING ROBO MOBILE SET 8 Mode D'emploi page 47

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Ti p s :
• In the "Obstacle Query" subprogram the different sensor combination possibilities are queried using
operators. The subprogram has a separate exit for each of the possibilities.
Data Input SR = sensor right
Data Input SL= sensor left
Exit NO = no obstacle
Exit OF = obstacle in front
Exit OL = obstacle left
Exit OR = obstacle right
• Place the orange Sensor elements into the main program and connect
them to the subprogram using data inputs, so you can see right away
which sensor is being queried.
• In each of the different evasion subprograms, I5 is queried when the
robot is going backwards. The model will go backwards until either the
set pulse count has been reached or until I5 is pressed. Again, I5 is
placed into the main program, so you can see right away in which
subprograms the sensor is queried.
• You will find the complete program under Obstacle 2.rpp.
The advantage of the programming technique used in this assignment is
that you can see directly in the main program which sensor is being
queried in the subprogram. If you would like to change the input you can do
so at one single point without having to search through all subprograms to
find out where the sensor might be hiding. Additionally, using operators
enables you to create very clear logic operations. In principal this is also
possible using branch elements. But this becomes confusing very quickly if
several cases are queried.
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