SPL Programming Procedure Pattern Simple Mission Maze Explorer

SPL Programming – Procedure Pattern Simple Mission – Maze Explorer Young Joon Kim http: //www. helloapps. com

Topics • LRF Procedure • Procedure Pattern for the Maze Explorer 2

LRF Procedure 3

LRF Procedure • Start with basic maze environment 4

LRF Procedure • Add “/Procedure_Sensor. Notify: ” option under the “Add. Laser. Range. Finder. Entity” 5

LRF Procedure • Type “proc 1” 6

LRF Procedure • Add “Procedure” 7

LRF Procedure • Add variables to keep distance values 8

LRF Procedure • Add “print” command 9

LRF Procedure • Save script as “script/Maze 6. txt” 10

LRF Procedure • Execute result 11

LRF Procedure • Execute result 12

Procedure Pattern for the Maze Explorer 13

Procedure Pattern for the Maze Explorer • Start with basic procedure pattern 14

Procedure Pattern for the Maze Explorer • Add Boolean variable to keep the turning state 15

Procedure Pattern for the Maze Explorer • Add “if” liines 16

Procedure Pattern for the Maze Explorer • Add lines to make robot turn right 30 degrees 17

Procedure Pattern for the Maze Explorer • Add “else” lines to turn right 18

Procedure Pattern for the Maze Explorer • Completed script 19

Procedure Pattern for the Maze Explorer • Save script as “script/Maze 7. txt” 20

Procedure Pattern for the Maze Explorer • Executed result 21

Procedure Pattern for the Maze Explorer • Executed result 22

Procedure Pattern for the Maze Explorer • Executed result 23