User Manual
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1. set Beeps Beeps 1 if Beeps lt 3 then beep 1000 500 else beep 5000 500 endif grab if weight gt 0 then set Ignored false endif endwhile stop is there an item yet not yet number of beeps issued no beeping yet keep it up til you get an item count beep short beep first two times then out of patience try to pick up item see if you got one if so quit the loop Here we assume that each item to be moved will be at the same location initially perhaps being fed down an assembly line and that each is dropped at the same location Page 7 of 72. include named variables each of which is associated with one of Robbie s registers Registers can hold integer values real numbers decimal values character strings or Boolean values true or false Before using a variable in an RL program you must register it register integer real boolean string lt name gt The command causes Robbie to associate one of his registers with the given name The name can then be used in the program and Robbie will automatically store its value in the associated register Variable names may consist of any sequence of letters and numbers it is strongly recommended that variable names NOT be entirely lower case Examples register integer Counter register real NetPay register boolean Empty register string CompetitorName RL uses several reserved words and arithmetic symbols for Boolean expressions and operations A Boolean expression is simply an expression whose value is true or false rather than numerical Any of the standard arithmetic symbols may be used lt lt gt gt The usual precedence rules apply and parentheses may be used for grouping In addition the following reserved words may be used to combine Boolean terms and or not Also the reserved words t rue and false may be used with their usual significance RL provides the set command for assigning a value to a variable set lt name gt lt value gt The name must be that of a variable th
3. 08 31 Line 3 begins a while loop and line 6 marks the end of the while loop The body of the while loop the instructions between lines 3 and 6 here is executed repeatedly as long as the condition specified in the while loop header line 3 is true Lines 4 and 5 specify the actions that Robbie should take during each pass through the while loop This example program illustrates only a small part of the RL language The following section provides a more detailed look at the various elements of RL RL the Robbie Language Typographical convention RL reserved words are shown in Courier font expressions that must be defined by the user are shown in brackets lt expression gt RL includes two commands for starting and stopping the execution of a RL program start stop RL includes three simple movement commands forward lt integer distance gt back lt integer distance gt turn left right lt integer rotation gt The forward command causes Robbie to move forward the specified distance in cm if possible If Robbie encounters an obstruction he will stop moving forward The back command is similar The turn command causes Robbie to turn the specified angle in degrees in the specified direction Robbie cannot be blocked from turning through any specified angle Distance and rotation values must be non negative Examples forward 20 move forward 20 cm back 8 move backward 8 cm turn left 45 turn 45 degrees to the le
4. Robbie the Robot User Manual version 2001 08 31 Robbie the Robot Robbie is the entry level model in the RUR line offering simple mobility and a single claw for grabbing and carrying objects that weigh up to 10 kg Robbie may be controlled by programs written in the Robbie Language described later in this document Robbie can store and execute Robbie Language programs of any length Unfortunately Robbie does not deal well at all with incorrect programs In fact if Robbie attempts to execute a program that contains a syntax error Robbie will explode Such failure is NOT covered by the warranty nor is RUR liable for any resulting environmental contamination Robbie Features Robbie is powered by a small quantum reactor which provides enough energy for Robbie to operate for an essentially unlimited amount of time For movement Robbie has four independent drive wheels which incorporate the latest in high traction technology enabling Robbie to climb surfaces at any angle including ceilings Robbie has two sensors mounted fore and aft for detecting contact with immovable objects Robbie has a dorsal control module which includes optical sensors and communications antennas A ventrally mounted claw allows Robbie to pick up objects that lie beneath his central body carry those objects and put them down The claw can be extended to any distance below Robbie and can lift and carry weights up to 10 kg An integrated scale allows Robbie
5. at has already been registered and the value may be any valid algebraic or arithmetic expression including the use of registered variable names Examples set Counter 0 set Empty true set CompetitorName ACME Robot Corporation Page 3 of 7 Robbie the Robot User Manual version 2001 08 31 Finally RL provides control structures To select between different courses of action RL provides the if then command if lt Boolean expression gt then lt commands gt endif and the if then else command if lt Boolean expression gt then lt commands gt else lt commands gt endif The first form allows the user to program Robbie to decide whether or not to carry out a command or list of commands depending on whether the Boolean expression is true when the if then statement is reached The second form allows Robbie to chose between two possible courses of action Examples if Empty then grab endif if Counter lt 10 then grab forward 100 drop else beep 1000 80 endif RL also provides two control structures for repetition of commands The while do command causes Robbie to carry out the commands in its body as long as the Boolean expression is true while lt Boolean expression gt do lt commands gt endwhile Example while true do forward 50 turn left 90 forward 15 turn left 90 endwhile The repeat command causes Robbie to carry out the command in its body the specified number of times r
6. epeat lt integer expression gt times lt commands gt endrepeat Page 4 of 7 Robbie the Robot User Manual version 2001 08 31 Example repeat 10 times forward 2 beep 500 1000 back 1 beep 500 2000 endrepeat In RL spacing is up to the user as long as things that should be separate are not run together Unlike some programming languages RL does not have any special notation to mark the end of a command Instead each line that is not blank or a comment or a control structure line is treated as being a single command RL Reserved Words A reserved word is a word that has a special meaning in the language and cannot be used for any other purpose RL uses the following reserved words all lower case and endrepeat pause string back false program then beep forward real times blocked grab register true do if repeat turn drop integer right weight else left set while endif not start endwhile or stop Users may not use any of these words as variable names Because all RL reserved words are lower case it is recommended that users use mixed case or upper case variable names This will help to avoid accidental collisions with the reserved word list and make it easier to identify user variables in an RL program Page 5 of 7 Robbie the Robot User Manual version 0 99 More Sample Programs The following sample programs illustrate some of Robbie s capabilities This makes Robbie pace in a 50 by 15 cm rectangle fo
7. ft RL includes two commands for the claw hand grab drop The first causes Robbie to extend his claw downward until either an object is found If the object can be picked up Robbie will close the claw to pick up that object and retract to its original location If the object cannot be picked up a bare surface too heavy etc then the claw automatically releases and retracts to its original location The second causes Robbie to put the object down gently despite the name and retract the claw RL includes two tests that use Robbie s internal sensors blocked weight The former is true if there is an object blocking Robbie s path in the forward direction and false otherwise The second equals the weight of the object the claw is holding to the nearest gram If the claw is not holding an object the weight test will equal zero Page 2 of 7 Robbie the Robot User Manual version 2001 08 31 RL includes two miscellaneous commands beep lt time gt lt frequency gt pause lt time gt The first causes Robbie to emit a sound for the specified time in milliseconds at the specified frequency in Hertz The second causes Robbie to pause all activities for the specified time Examples beep 2000 4000 beep at 4000 Hz for 2 seconds pause 500 pause for 0 5 seconds Robbie includes an essentially unlimited number of internal registers or memory locations each of which can be used to store a single value RL programs can
8. rever program Pace Forever in a Rectangle start while true do forward 50 turn left 90 forward 15 turn left 90 endwhile stop This makes Robbie pace back and forth on a 50 cm line ten times program Pace Laps start register integer Laps set Laps 0 register a counter variable set it to zero initially while Laps lt 10 do do these commands until Laps reaches ten move forward 1 2 meter reverse course count this lap forward 50 turn left 180 set Laps Laps 1 endwhile stop This makes Robbie pick up and move ten items a distance of one meter program Move Ten Things start register integer numMoved set numMoved 0 to count the items while numMoved lt 10 do grab pick up an item turn left 180 turn around forward 100 move 1 meter forward drop put the item down turn left 180 turn back forward 100 set numMoved numMoved 1 count the item endwhile beep 10000 500 stop move back to starting point beep 10 seconds at 50 Hz Page 6 of 7 Robbie the Robot User Manual version 0 99 Here we assume that each item to be moved will be at the same location initially perhaps being fed down an assembly line and that each is dropped at the same location This makes Robbie demand attention until an object is available for him to pick up program Bother start register boolean Ignored set Ignored true register integer Beeps set Beeps 0 while Ignored do
9. to determine the weight of an object in 1g increments Robbie also includes a simple sound system which can generate frequencies in the range 60Hz to 30 000Hz A Sample Program in Robbie Language The Robbie Language RL for short allows the user to program Robbie to perform a variety of tasks RL bears some resemblance to traditional high level languages such as Pascal or C but is much simpler The following RL program causes Robbie to pace back and forth in a straight line forever not terribly useful really program Pace Forever 1 program name start 2 begin executing the program while true do 3 do the following instruction forever forward 50 7 4 move forward 50 cm turn left 180 paar turn right 180 degrees about face endwhile 6s stop 7 stop executing the program RL programs may contain comments as shown above Any text that follows a semi colon on a line is considered to be a comment useful to human readers but not part of the instructions Robbie will execute Line 1 begins the RL program specifying a name for the program The name has no special significance in RL and is actually optional but it is good practice to give RL programs descriptive names Lines 2 and 7 mark the beginning and end of execution of the RL program body Both are required for every RL program An RL program may contain multiple st op instructions but only one st art instruction Page of 7 Robbie the Robot User Manual version 2001
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