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Embedded Systems

Robot Control and Colbert

By

Kurt Konolige, Jeanne Dietsch and and William Kennedy

, November 01, 2000

Robot control programs take a robot's sensory input, process it, and decide which motor actions the robot will perform. Our authors use the Colbert sequencer language to develop control code.
Nov00: 


 act approach()
 {
   int x; 
   start patrol(-1) timeout 300 noblock;
  checking: 
   if (timedout(patrol) || sfIsStalled()) fail;
   x = sfObjInFront();
   if (x > 2000) goto checking;
   suspend patrol;
   Move(x - 200);
   succeed;
 }

Example 2: An activity that monitors another.



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