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to the program immediately before the rLocate statement. Then, when you run the program it will automatically connect with your real-world robot and control it with the program just used for the simulation. In general, the real-world robot should respond to objects in its environment in the same manner as the simulated robot, but this of course depends on the quality of your algorithm. Programs that perform open-loop movements (e.g., having the robot draw a triangle) may have trouble emulating the simulator s behavior exactly. If your algorithm uses sensors such as wheel encoders and a compass to control the movement commands, the robot should respond properly. Programs that utilize sensory data to control all movement should

36 MHz, and it must provide a C/N ratio at the destination earth station of 22 dB. Given that the total transmission losses are 200 dB and the destination earthstation G/T ratio is 31 dB/K, calculate the satellite EIRP required.

Setting this up in tabular form, and keeping in mind that [k] and that losses are numerically equal to 200 dB, we obtain

' {$STAMP BS2} ' {$PBASIC 2.5} '~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ '========== assign pins ReceivePin PIN 0 SendPin PIN 1 '==================Declare necessary variable SENSORS VAR Nib Direction VAR Byte T VAR Byte bData VAR Byte(2) 'Received data buffer from RobotBASIC 'byte 0 is the command code and byte 1 'is a parameter for the command. bBuffer VAR Byte(5) 'Buffer of data to be sent to RobotBASIC 'byte 0 is the bumper sensor. Byte 1 is the 'infrared sensors. Byte 2 is the line sensors. 'Byte 3 and 4 is a 16 bit integer for the data 'to be returnd as the result of some commands. 'Byte 3 is the MSB, byte 4 is the LSB. 'See RobotBASIC help for more details. '============================================================= '============================================================= Main: PAUSE 1000 'WAIT FOR the eb500 radio TO be ready DO SERIN ReceivePin,84,[STR bData\2] 'receive command and its 'parameter from RobotBASIC IF bData(0) = 3 THEN GOSUB rLocate ELSEIF bData(0) = 6 THEN Direction = 1 GOSUB rForward ELSEIF bData(0) = 7 THEN Direction = 0 GOSUB rForward ELSEIF bData(0) = 12 THEN Direction = 1 GOSUB rTurn ELSEIF bData(0) = 13 THEN Direction = 0 GOSUB rTurn ELSEIF bData(0) = 24 THEN GOSUB rCompass ELSEIF bData(0) = 48 THEN Direction = 1 GOSUB rLook ELSEIF bData(0) = 49 THEN Direction = 0 GOSUB rLook ELSEIF bData(0) = 96 THEN GOSUB rBeacon ELSEIF bData(0) = 192 THEN Direction = 1 GOSUB rRange ELSEIF bData(0) = 193 THEN Direction = 0 GOSUB rRange ELSEIF bData(0) = 129 THEN GOSUB rPen

= lim [f (x) f (a)] + lim f (a)

Quantity [C/N] [G/T] [LOSSES] [k] [B] [EIRP]

FIGURE 17.21 This skeleton program shows the principles required for writing a microcontroller-based program to act as a server for the RobotBASIC protocol.

Example 12.12 illustrates the use of Eq. (12.54). Example 12.13 shows the use of Eq. (12.53) applied to a digital link.

f (x) f (a) (x a) + f (a) = lim x a x a f (x) f (a) = lim lim (x a) + f (a) x a x a x a = f (a) 0 + f (a) = f (a) Thus, f is continuous at a. This proves: Theorem 13.1: If f is differentiable at a, then f is continuous at a. EXAMPLE Differentiability is a stronger condition than continuity. In other words, the converse of Theorem 13.1 is not true. To see this, consider the absolute-value function f (x) = |x| (see Fig. 13-1). f is obviously continuous at x = 0; but it is not differentiable at x = 0. In fact,

A QPSK signal is transmitted by satellite. Raised-cosine filtering is used, for which the rolloff factor is 0.2 and a bit error rate (BER) of 5 10 is required. For the satellite downlink, the losses amount to 200 dB, the 1 receiving earth-station G/T ratio is 32 dBK , and the transponder bandwidth is 36 MHz. Calculate (a) the bit rate which can be accommodated, and (b) the EIRP required.