513
edits
→Example: developing the control mechanism of an autonomous vacuum cleaner
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The robot stands still and waits for further instructions. | The robot stands still and waits for further instructions. | ||
It is now in standby mode. | It is now in standby mode. | ||
[[File:diagramStateMachine1.jpg]] | |||
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The robot starts to clean the room. | The robot starts to clean the room. | ||
It moves forward and activates the air pump. | It moves forward and activates the air pump. | ||
[[File:diagramStateMachine2.jpg]] | |||
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The robot would bump into the next wall if it would only be able to move forward. | The robot would bump into the next wall if it would only be able to move forward. | ||
It therefore needs a function that recognizes walls and makes the robot turn around. | It therefore needs a function that recognizes walls and makes the robot turn around. | ||
[[File:diagramStateMachine3.jpg]] | |||
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We have to define a parameter that tells the robot if it turned enough in order to continue cleaning. | We have to define a parameter that tells the robot if it turned enough in order to continue cleaning. | ||
This parameter can be a time delay, a certain amount of wheel revolutions or the value of a (distance, ..) sensor. | This parameter can be a time delay, a certain amount of wheel revolutions or the value of a (distance, ..) sensor. | ||
[[File:diagramStateMachine4.jpg]] | |||
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The final missing part is the off-button. | The final missing part is the off-button. | ||
[[File:diagramStateMachine5.jpg]] | |||
==Writing the Program== | ==Writing the Program== | ||