pkg://tclrobots-2.0.tar.gz:73416/tclrobots-2.0/tclrobots.ps  downloads

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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R/F1 9/Times-Bold@0 SF -.18(NA)72 84 S(ME).18 E/F2 12/Times-Roman@0
SF(TclRobots)298.998 96 Q F0 -1.11(Ve)301.225 120 S(rsion 2.0)1.11 E
(Cop)248.135 132 Q(yright 1994,1996 T)-.1 E(om Poinde)-.8 E(xter)-.15 E
(tpoinde)287.185 144 Q(x@n)-.15 E(yx.net)-.15 E F1(WHA)72 165.6 Q 2.25
(TI)-.855 G 2.25(ST)-2.25 G(CLR)-2.25 E(OBO)-.27 E(TS?)-.36 E F0 .822
(TclRobots is a programming g)108 177.6 R .822(ame, similar to 'Core W)
-.05 F 3.322(ar'. T)-.8 F 3.322(op)-.8 G .821
(lay TclRobots, you must write a Tcl pro-)-3.322 F .307
(gram that controls a robot.)108 189.6 R .307(The robot')5.307 F 2.807
(sm)-.55 G .307(ission is to survi)-2.807 F .607 -.15(ve a b)-.25 H .308
(attle with other robots.).15 F -1 -.8(Tw o)5.308 H 2.808(,t).8 G .308
(hree, or four)-2.808 F .358
(robots compete during a battle, each running dif)108 201.6 R .357
(ferent programs \(or possibly the same program in dif)-.25 F(ferent)
-.25 E 3.005(robots.\) Each)108 213.6 R .505
(robot is equipped with a scanner)3.005 F 3.005(,c)-.4 G .505
(annon, dri)-3.005 F .805 -.15(ve m)-.25 H 3.006(echanism. A).15 F .506
(single match continues until)3.006 F .446(one robot is left running.)
108 225.6 R .446(Robots may compete indi)5.446 F(vidually)-.25 E 2.946
(,o)-.65 G 2.946(rc)-2.946 G .446(ombine in a team oriented battle.)
-2.946 F 2.945(At)5.445 G(our)-2.945 E(-)-.2 E 1.135
(nament can be run with an)108 237.6 R 3.635(yn)-.15 G 1.135
(umber of robot programs, each robot playing e)-3.635 F -.15(ve)-.25 G
1.136(ry other in a round-robin).15 F -.1(fa)108 249.6 S
(shion, one-on-one.).1 E 2.5(Ab)5 G(attle simulator is a)-2.5 E -.25(va)
-.2 G(ilable to help deb).25 E(ug robot programs.)-.2 E .893
(The TclRobots program pro)108 266.4 R .893(vides a ph)-.15 F .892
(ysical en)-.05 F .892(vironment, imposing certain g)-.4 F .892
(ame parameters to which all)-.05 F(robots must adhere.)108 278.4 Q
(TclRobots also pro)5 E(vides a vie)-.15 E 2.5(wo)-.25 G 2.5(nab)-2.5 G
(attle, and a controlling user interf)-2.5 E(ace.)-.1 E .132
(TclRobots is strongly in\215uenced by my 1985 g)108 295.2 R .132
(ame, CR)-.05 F(OBO)-.4 E 2.632(TS. CR)-.4 F(OBO)-.4 E .132
(TS is based on writing robot con-)-.4 F .12
(trol programs in C, and the entire en)108 307.2 R .119(vironment is ti\
ghtly coupled into a single program that contains a small)-.4 F 4.937
(Cc)108 319.2 S(ompiler)-4.937 E 4.937(,v)-.4 G 2.437
(irtual stack-based CPU, multi-tasking scheduler)-4.937 F 4.937(,a)-.4 G
2.437(nd e)-4.937 F -.15(xe)-.15 G 2.437(cution en).15 F 4.937
(vironment. TclRobots)-.4 F .287(instead is loosely coupled, utilizing \
separate Tcl wish interpreters for each robot.)108 331.2 R .286
(Communication between)5.287 F 2.5(ar)108 343.2 S
(obot and the TclRobots program is accomplished with Tk')-2.5 E(s)-.55 E
/F3 10/Times-Italic@0 SF(send)2.5 E F0(command.)2.5 E
(TclRobots requirements:)108 364.8 Q 2.5(aw)5 G(ish interpreter b)-2.5 E
(uilt from Tcl 7.4 and Tk 4.0.)-.2 E .008
(TclRobots uses the Tk "send" command - if your X serv)108 381.6 R .008
(er is insecure \(xhost access list not empty\), you will)-.15 F
(need a wish compiled with the "-DNO_TK_SECURITY" \215ag.)108 393.6 Q
(Better yet, use "xauth" instead of "xhost.")5 E -1.27 -.74(Av a)108
410.4 T(ilability:).74 E(TclRobots \(and Tcl/Tk, if you don')108 422.4 Q
2.5(ta)-.18 G(lready ha)-2.5 E .3 -.15(ve i)-.2 H(t\) are a).15 E -.25
(va)-.2 G(ilable at the follo).25 E(wing locations:)-.25 E
(ftp://ftp.aud.alcatel.com/tcl/code/tclrobots-2.0.tar)108 439.2 Q(.gz)
-.55 E(ftp://ftp.smli.com/pub/tcl/tcl7.4.tar)108 451.2 Q(.Z)-.55 E
(ftp://ftp.smli.com/pub/tcl/tk4.0.tar)108 463.2 Q(.Z)-.55 E F1(INST)72
484.8 Q(ALLA)-.81 E(TION AND DEMO)-.855 E F0 32.67(-E)108 496.8 S .512
(dit the Mak)-32.67 F 3.012(e\214le. All)-.1 F .511
(that is needed it the path of your wish e)3.011 F -.15(xe)-.15 G .511
(cutable, and the directory where).15 F 1.91(you w)144 508.8 R 1.91
(ould lik)-.1 F 4.41(eT)-.1 G 1.91
(clRobots installed. See the comments at the top of the Mak)-4.41 F 4.41
(e\214le. `mak)-.1 F 1.91(e' to)-.1 F(install.)144 520.8 Q 32.67(-r)108
537.6 S(un `tclrobots' from the directory where you unpack)-32.67 E
(ed the distrib)-.1 E(ution.)-.2 E 32.67(-I)108 554.4 S 2.727(nt)-32.67
G .227(he Files listbox, Double-Click on the `samples' directory for sa\
mple indi)-2.727 F .227(vidual robot programs)-.25 F
(or the `teams' directory for 2-on-2 team robot programs.)144 566.4 Q
32.67(-C)108 583.2 S(lick on `Select All')-32.67 E 32.67(-C)108 600 S
(lick on `Run Battle')-32.67 E F1(SYNOPSIS)72 621.6 Q/F4 10/Times-Bold@0
SF(tclr)108 633.6 Q(obots)-.18 E F0 2.5([[-)2.5 G 2.5(tt)-2.5 G
(imelimit ])-2.5 E 2.5([-)5 G 2.5(or)-2.5 G(esults-\214le ])-2.5 E 2.5
([-)5 G(no)-2.5 E(win ])-.25 E(\214les... ])7.5 E F4(Tclr)108 650.4 Q
(obots)-.18 E F0 .855(without an)3.355 F 3.355(yc)-.15 G .855
(ommand line ar)-3.355 F .855(guments starts TclRobots in interacti)-.18
F 1.156 -.15(ve m)-.25 H 3.356(ode. The).15 F .856(user interf)3.356 F
(ace)-.1 E(\(described belo)108 662.4 Q(w\) is used to select \214les, \
start battles, tournaments, or the simulator)-.25 E(.)-.55 E 1.272
(If command line ar)108 679.2 R 1.272(guments are speci\214ed,)-.18 F F4
(tclr)3.772 E(obots)-.18 E F0 1.272
(starts in tournament or single battle mode using the)3.772 F
(speci\214ed \214les.)108 691.2 Q(Options:)5 E F4 2.5(-t timelimit)108
712.8 R F0 .852(sets the number of minutes to run each match in a one-o\
n-one tournament.)144 724.8 R -.35(Ti)5.852 G .852(melimit should be).35
F 213.72(2/1/96 1)293.22 768 R EP
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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R .823(speci\214ed as an inte)144 84 R .822(ger number of minutes.)
-.15 F .822(If -t is not speci\214ed, a single battle will run with the)
5.822 F(\214rst four \214les until a single winner remains.)144 96 Q/F1
10/Times-Bold@0 SF 2.5(-o r)108 112.8 R(esults-\214le)-.18 E F0 1.957
(speci\214es the \214le name in which to record tournament results.)144
124.8 R 1.958(If -o is omitted, the \214le name)6.958 F
("results.out" is used.)144 136.8 Q F1(-no)108 153.6 Q(win)-.1 E F0
1.265(speci\214es that the tournament or battles will not be displayed.)
144 165.6 R 1.264(In addition, matches are run \214v)6.265 F(e)-.15 E
.361(times f)144 177.6 R .361(aster \(w)-.1 F .361(all clock time\).)-.1
F .361
(The apparent clock time to robot programs will still be determined)
5.361 F .108(by the)144 189.6 R F1 .107(-t timelimit)2.607 F F0 -.25(va)
2.607 G 2.607(lues. -no).25 F .107
(win can be speci\214ed without -t, resulting in a re)-.25 F .107
(gular 2-4 w)-.15 F .107(ay battle)-.1 F .095
(without a time limit and run without display)144 201.6 R 5.095(.R)-.65
G .095(esults will be sa)-5.095 F -.15(ve)-.2 G 2.595(di).15 G 2.596(n")
-2.595 G .096(results.out" or the \214le spec-)-2.596 F
(i\214ed with -o.)144 213.6 Q/F2 9/Times-Bold@0 SF(THE R)72 235.2 Q(OBO)
-.27 E(T)-.36 E F0 .119(All robots in TclRobots are constructed equally)
108 247.2 R 5.119(.W)-.65 G .119(hat dif)-5.119 F .119
(ferentiates the robots' beha)-.25 F .118(vior is the control pro-)-.2 F
(gram that you write.)108 259.2 Q(The robot has the ability to mo)5 E
-.15(ve)-.15 G 2.5(,l).15 G(ook for)-2.5 E 2.5(,a)-.4 G
(nd shoot at, other robots.)-2.5 E .706
(Robots use a compass system based on 0 to 359 de)108 276 R .707
(grees, with 0 pointing due east, 90 due north, 180 due)-.15 F
(west, and 270 due south.)108 288 Q .67(The robot')108 304.8 R 3.17(sd)
-.55 G(ri)-3.17 E .97 -.15(ve m)-.25 H .67
(echanism can be controlled to mo).15 F .969 -.15(ve t)-.15 H .669
(he robot in a particular direction, at some speed.).15 F .835
(Direction is e)108 316.8 R .835(xpressed as an inte)-.15 F .835(ger de)
-.15 F .835(gree heading 0 - 359, and speed is 0 to 100 percent.)-.15 F
.835(The motor is)5.835 F(inef)108 328.8 Q .241(\214cient abo)-.25 F
.541 -.15(ve 3)-.15 H .241(5% speed, and be).15 F .241(gins to o)-.15 F
-.15(ve)-.15 G 2.741(rheat. When).15 F 2.741(at)2.741 G .24
(emperature heat inde)-2.741 F 2.74(xo)-.15 G 2.74(f2)-2.74 G .24
(00 is reached, the)-2.74 F .452(motor cannot be operated o)108 340.8 R
-.15(ve)-.15 G 2.952(r3).15 G .452(5% until cooling allo)-2.952 F .452
(ws the heat inde)-.25 F 2.952(xt)-.15 G 2.952(od)-2.952 G .452
(rop back to 0.)-2.952 F .453(While the robot)5.452 F .512(is v)108
352.8 R .512(ery agile and stable, safe)-.15 F .512(guards are b)-.15 F
.512(uilt into the interf)-.2 F .512(ace to pre)-.1 F -.15(ve)-.25 G
.511(nt the robot from tipping o).15 F -.15(ve)-.15 G 3.011(rw).15 G
(hile)-3.011 E(trying to turn at too f)108 364.8 Q(ast a rate for an)-.1
E 2.5(yg)-.15 G -2.15 -.25(iv e)-2.5 H 2.5(ns).25 G(peed.)-2.5 E
(The follo)108 381.6 Q(wing table represents maximum speeds at which a \
delta course change can be made:)-.25 E(De)114.74 398.4 Q(grees of)-.15
E(Maximum)21.74 E(course change)108 410.4 Q(Speed)23.615 E .4 LW 221.59
414.9 108 414.9 DL(25 or less)117.295 424.4 Q(100%)33.465 E(25 - 50)
122.295 436.4 Q(50%)43.465 E(50 - 75)122.295 448.4 Q(30%)43.465 E
(75 or greater)110.915 460.4 Q(20%)32.085 E 1.439
(If a course change is attempted at a speed abo)108 477.2 R 1.739 -.15
(ve t)-.15 H 1.439(he maximum for the change, the dri).15 F 1.739 -.15
(ve i)-.25 H 3.939(sd).15 G(iseng)-3.939 E(aged)-.05 E .674
(\(speed set to 0\) on the present course.)108 489.2 R .674(The dri)
5.674 F .974 -.15(ve m)-.25 H .674(echanism also allo).15 F .673
(ws the robot to turn f)-.25 F .673(aster at slo)-.1 F(wer)-.25 E
(speeds.)108 501.2 Q 26.385(Speed Rate)121.885 518 R(of turn)2.5 E
(per second)177.575 530 Q 222.98 534.5 108 534.5 DL(25% or less)110.775
544 Q(90)36.66 E(25 - 50%)115.775 556 Q(60)41.66 E(50 - 75%)115.775 568
Q(40)41.66 E(75% or more)108 580 Q(30)33.885 E .12
(At 100% speed, the robot tra)108 596.8 R -.15(ve)-.2 G .12
(ls at 20 meters per second.).15 F .121
(Robots are also subject to acceleration and deac-)5.121 F
(celearation, a linear constant of 20% of the maximun speed per second.)
108 608.8 Q 1.126(Each robot is equipped with a scanning de)108 625.6 R
1.125(vice, which can be pointed independently of the current dri)-.25 F
-.15(ve)-.25 G .718(heading of the robot.)108 637.6 R 3.218(As)5.718 G
.718(can can be initiated in an)-3.218 F 3.218(yd)-.15 G .718
(irection, 0-359 de)-3.218 F 3.219(grees. The)-.15 F .719
(scanner has a v)3.219 F(ariable)-.25 E .052(resolution capability)108
649.6 R 2.552(,d)-.65 G .052
(etecting other robots within a maximum of +/- 10 de)-2.552 F .052
(grees from the scan direction.)-.15 F(If)5.051 E 2.942(as)108 661.6 S
.442
(can \214nds a robot, the distance to the opposing robot is reported.)
-2.942 F(Ho)5.442 E(we)-.25 E -.15(ve)-.25 G 1.242 -.4(r, i).15 H 2.942
(far).4 G .443(esolution greater than 0)-2.942 F .322
(is used, the scanner')108 673.6 R 2.821(sr)-.55 G .321
(esult may be reported inaccurately)-2.821 F 5.321(.I)-.65 G 2.821(nt)
-5.321 G .321(his case, the distance reported may be of)-2.821 F 2.821
(fb)-.25 G(y)-2.821 E .229(as much as 10 meters for each de)108 685.6 R
.23(gree of resolution \(up to 100 meters in error for a +/- 10 de)-.15
F .23(gree resolution)-.15 F 2.626(scan.\) A)108 697.6 R .126(high reso\
lution scan \(0 speci\214ed for resolution\) will return accurate resul\
ts, subject to cannon bar)2.626 F(-)-.2 E
(rel heat distortion \(see belo)108 709.6 Q(w\).)-.25 E 1.183(If tw)108
726.4 R 3.683(oo)-.1 G 3.684(rm)-3.683 G 1.184
(ore robots are in the scan')-3.684 F 3.684(sr)-.55 G 1.184
(esolution, the closest opponent is reported.)-3.684 F(It')6.184 E 3.684
(sa)-.55 G 1.184(lso possible to)-3.684 F 213.72(2/1/96 2)293.22 768 R
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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R 1.384(distinguish v)108 84 R 1.384(arious opposing robots, as the \
scanner has a rudimentary digital signal processor)-.25 F 3.883(,a)-.4 G
1.383(nd each)-3.883 F 1.16(robot has a arbitrary signature.)108 96 R
3.66(Ar)6.16 G 1.16
(obot program can also be alerted when it is the subject of a scan by)
-3.66 F(another robot.)108 108 Q
(The signature of the scanning robot can be determined, b)5 E
(ut not it')-.2 E 2.5(sh)-.55 G(eading or distance.)-2.5 E 3.378(Ac)108
124.8 S .878(annon is the robot')-3.378 F 3.378(so)-.55 G -.25(ff)-3.378
G(ensi).25 E 1.178 -.15(ve w)-.25 H .878
(eapon, \214ring a shell at opposing robots.).15 F .877
(The cannon has a maximum)5.877 F 1.293(range of 700 meters, and can be\
 aimed independently of the robot heading.)108 136.8 R 1.294
(Damage to all surrounding)6.293 F(robots from an e)108 148.8 Q
(xploding shell is assessed as follo)-.15 E(ws:)-.25 E(Meters from)108
165.6 Q 2.5(%D)15 G(amage)-2.5 E -.15(ex)113.485 177.6 S 23.4
(plosion incurred).15 F .4 LW 216.86 182.1 108 182.1 DL 47.765(62)
132.855 191.6 S(5%)-47.765 E 45.265(10 12%)127.855 203.6 R 50.265(20 7%)
127.855 215.6 R 50.265(40 3%)127.855 227.6 R .021
(While the robot has an lar)108 244.4 R .021
(ge \(unlimited\) cache of shells a)-.18 F -.25(va)-.2 G .02
(ilable, it can only reload f).25 F .02(ast enough to ha)-.1 F .32 -.15
(ve o)-.2 H(ne).15 E .669(shell in the air at maximum range at an)108
256.4 R 3.169(yo)-.15 G .67(ne time \(approximately 4 seconds\).)-3.169
F .67(Cannon shells are grouped)5.67 F .76(four to a clip;)108 268.4 R
.759(after a clip is e)5.759 F .759(xhausted, it is ejected and a ne)
-.15 F 3.259(wc)-.25 G .759(lip loaded in place.)-3.259 F .759(The ef)
5.759 F .759(fect is that on)-.25 F -2.15 -.25(ev e)108 280.4 T .553
(ry fourth shell, the reload time is tripled \(12 seconds.\)).25 F .554
(The cannon \214res its shells in a high arc; a shell)5.553 F .313(will\
 not impact into another robot that might be in the line of \215ight.)
108 292.4 R .313(Shells tra)5.313 F -.15(ve)-.2 G 2.813(la).15 G 2.813
(t2)-2.813 G .313(00 meters per second)-2.813 F(to)108 304.4 Q -.1(wa)
-.25 G(rd the tar).1 E(get.)-.18 E .574
(Each shell \214red causes the cannon barrel to heat up.)108 321.2 R
.574(The heat rising of)5.574 F 3.074(ft)-.25 G .574
(he barrel distorts the vie)-3.074 F 3.074(wo)-.25 G 3.074(ft)-3.074 G
(he)-3.074 E(scanner)108 333.2 Q 5.289(.I)-.55 G 2.789(ft)-5.289 G .288
(he temperature of the barrel becomes too great, the scanner is rendere\
d useless.)-2.789 F .288(At lesser tem-)5.288 F 1.206(peratures, the he\
at distortion will cause the scanner to return inaccurate results, a ra\
ndom plus or minus)108 345.2 R .347(meters equal to the total heat of t\
he barrel \(one unit of barrel heat = one meter error)108 357.2 R 2.847
(.\) Firing)-.55 F 2.847(as)2.847 G .347(hell causes)-2.847 F 1.165
(the barrel temperature to increase by 20 heat units.)108 369.2 R 1.165
(The normal cooling rate is 2 units per second.)6.165 F(The)6.165 E
1.361(scanner al)108 381.2 R -.1(wa)-.1 G 1.361
(ys reports 0 for range while the barrel temperature is abo).1 F 1.66
-.15(ve 3)-.15 H 3.86(5u).15 G 3.86(nits. The)-3.86 F 1.36
(scanning beam,)3.86 F(ho)108 393.2 Q(we)-.25 E -.15(ve)-.25 G 1.63 -.4
(r, s).15 H .83(till re).4 F .83(gisters upon other robots in the path \
of the scan, triggering a scanned robot')-.15 F 3.33(sa)-.55 G .83
(lert proce-)-3.33 F 2.5(dure. The)108 405.2 R
(cannon barrel does not ha)2.5 E .3 -.15(ve t)-.2 H(emperature sensor)
.15 E(.)-.55 E -1.11(Va)108 422 S 2.04(rious feedback re)1.11 F 2.039(g\
isters in the robot can be accessed by the control program, reporting t\
he current)-.15 F(amount of damage, x and y axis battle\214eld location\
, current speed, and an internal clock tick.)108 434 Q 1
(Robots incur damage e)108 450.8 R 1(xpressed as a percent v)-.15 F
3.501(alue. When)-.25 F 1.001
(100% damage is reached, the robot is "dead",)3.501 F .652
(and ceases to function.)108 462.8 R(Ho)5.652 E(we)-.25 E -.15(ve)-.25 G
1.452 -.4(r, d).15 H .652(amage has no ef).4 F .652
(fect on operational ability)-.25 F 5.652(.A)-.65 G .651
(robot with 99% damage)-2.5 F(operates as well as one with no damage.)
108 474.8 Q/F1 9/Times-Bold@0 SF(THE B)72 496.4 Q -.855(AT)-.27 G
(TLEFIELD).855 E F0 1.445
(The battle\214eld in TclRobots is a 1,000 by 1,000 meter square area.)
108 508.4 R -.8(Wa)6.446 G 1.446(lls surround the battle\214eld, and).8
F .844(robots running into a w)108 520.4 R .844(all will suf)-.1 F .844
(fer 5% damage.)-.25 F .844
(The coordinate system is based on increasing x and y)5.844 F(axis v)108
532.4 Q(alues from the southwest corner \(bottom left is 0,0\).)-.25 E
(999,999 is the e)5 E(xtreme northeast \(upper right\).)-.15 E
(Upon start up, robots are placed in random quadrants.)108 549.2 Q F1
(THE R)72 570.8 Q(OBO)-.27 E 2.25(TT)-.36 G(CL LANGU)-2.25 E -.495(AG)
-.54 G(E).495 E F0
(Robot control programs are written in the Tcl language.)108 582.8 Q
(The follo)5 E(wing Tcl commands are a)-.25 E -.25(va)-.2 G(ilable:).25
E 28.62(after if)108 599.6 R(rename)40.55 E 18.06(append incr)108 611.6
R(return)31.11 E 26.4(array join)108 623.6 R(scan)31.1 E 24.73
(break lappend)108 635.6 R(set)15 E 29.73(case linde)108 647.6 R 21.81
(xs)-.15 G(ource)-21.81 E 25.84(catch linsert)108 659.6 R(split)21.66 E
20.84(concat list)108 671.6 R(string)34.43 E 12.5(continue llength)108
683.6 R(subst)18.88 E 27.51(error lrange)108 695.6 R(switch)21.67 E -.25
(eva)108 707.6 S 33.28(ll).25 G 12.51(replace time)-33.28 F -.15(ex)108
719.6 S 32.09(it lsearch).15 F(trace)18.34 E 213.72(2/1/96 3)293.22 768
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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R -.15(ex)108 84 S 29.32(pr lsort).15 F(unset)28.88 E 34.16
(\214le pid)108 96 R(update)33.88 E 35.28(for proc)108 108 R(uple)28.89
E -.15(ve)-.25 G(l).15 E 16.96(foreach rand)108 120 R(upv)28.89 E(ar)
-.25 E 20.28(format re)108 132 R(ge)-.15 E 17.25(xp while)-.15 F 21.94
(global re)108 144 R(gsub)-.15 E .567(Note that the)108 160.8 R/F1 10
/Times-Italic@0 SF(after)3.068 E F0(and)3.068 E F1(update)3.068 E F0
.568(commands from Tk are a)3.068 F -.25(va)-.2 G 3.068(ilable. See).25
F .568(the Tcl and Tk man pages for infor)3.068 F(-)-.2 E
(mation on these commands.)108 172.8 Q/F2 9/Times-Bold@0 SF(THE R)72
194.4 Q(OBO)-.27 E 2.25(TH)-.36 G(ARD)-2.25 E -1.08(WA)-.36 G(RE INTERF)
1.08 E -.495(AC)-.81 G(ES).495 E F0 .349(The follo)108 206.4 R .349
(wing Tcl commands are the interf)-.25 F .349(ace to the robot')-.1 F
2.848(sh)-.55 G(ardw)-2.848 E .348(are \(syscalls.\))-.1 F .348
(Each interf)5.348 F .348(ace command)-.1 F(tak)108 218.4 Q .542
(es a minimum of 100 milliseconds to complete, e)-.1 F .542
(xcept: the scanner command, which requires 200 mil-)-.15 F .554
(liseconds per e)108 230.4 R -.15(xe)-.15 G .554
(cution; team communications commands team_get and team_send e).15 F
-.15(xe)-.15 G .553(cute without delay).15 F(.)-.65 E .129
(Commands that tak)108 242.4 R 2.629(ea)-.1 G -.18(rg)-2.629 G .129
(uments will return -1 if an).18 F 2.629(ya)-.15 G -.18(rg)-2.629 G .13
(ument is out of v).18 F .13(alid ranges.)-.25 F -.15(Fo)5.13 G 2.63(rd)
.15 G -.15(eg)-2.63 G .13(rees, v).15 F .13(alid v)-.25 F(al-)-.25 E(ue\
s are 0-359; for speed, 0-100, for resolution, 0-10, for cannon range, \
0-700.)108 254.4 Q/F3 10/Times-Bold@0 SF(scanner)108 276 Q F1(de)2.5 E
(gr)-.4 E(ee r)-.37 E(esolution)-.37 E F0 .698(The scanner command in)
144 288 R -.2(vo)-.4 G -.1(ke).2 G 3.198(st).1 G .698(he robot')-3.198 F
3.198(ss)-.55 G(canner)-3.198 E(.)-.55 E F1(De)5.698 E(gr)-.4 E(ee)-.37
E F0 .698(must be in the range 0-359.)3.198 F(Scanner)5.697 E .701
(returns 0 if nothing found, or an inte)144 300 R .701
(ger greater than zero indicating the distance to an opponent.)-.15 F F1
(Resolution)144 312 Q F0 .145(controls ho)2.645 F 2.645(ww)-.25 G .145
(ide in de)-2.645 F .144
(grees the scan can detect opponents from the absolute scanning)-.15 F
.82(direction, and must be in the range 0-10.)144 324 R 3.321(Ar)5.82 G
.821(obot that has been destro)-3.321 F .821(yed is not reported by the)
-.1 F(scanner)144 336 Q(.)-.55 E F3(dsp)108 352.8 Q F0 .303
(The dsp command returns a list of tw)144 364.8 R 2.803(oi)-.1 G(nte)
-2.803 E .303
(gers, the \214rst element is the digital signature of the last)-.15 F
.067(robot found using the scanner)144 376.8 R 5.067(.T)-.55 G .068
(he second element is the percent of damage the scanned robot has)-5.067
F .819(accumulated, 0-99 percent.)144 388.8 R .819
(Each robot in a battle has a distinct signature.)5.819 F .818
(If nothing w)5.818 F .818(as found)-.1 F(during the last scan \(scanne\
r command returned 0\), then the dsp command will return "0 0".)144
400.8 Q F3(alert)108 417.6 Q F1(pr)2.5 E(oc-name)-.45 E F0 1.006(The al\
ert command names a procedure to be called when the robot is being scan\
ned by another)144 429.6 R 3.64(robot. When)144 441.6 R 1.139
(the robot detects it has been scanned, the)3.64 F F1(pr)3.639 E
(oc-name)-.45 E F0 1.139(procedure is called with one)3.639 F(ar)144
453.6 Q .853
(gument, the dsp signature of the robot that performed the scan.)-.18 F
.853(If proc-name is null \(""\), then)5.853 F
(the alert feature is disabled.)144 465.6 Q F3(cannon)108 482.4 Q F1(de)
2.5 E(gr)-.4 E(ee r)-.37 E(ang)-.15 E(e)-.1 E F0 1.212
(The cannon commands \214res a shell in the direction speci\214ed by)144
494.4 R F1(de)3.711 E(gr)-.4 E(ee)-.37 E(,)-.1 E F0 1.211
(for the distance)3.711 F F1 -.15(ra)3.711 G(ng).15 E -.15(e.)-.1 G F0
(Cannon returns 1 if a shell w)144 506.4 Q
(as \214red; if the cannon is reloading, 0 is returned.)-.1 E F3(damage)
108 523.2 Q F0 .016
(The damage command reports the current percent of damage suf)144 535.2
R .016(fered by the robot, 0-99.)-.25 F .016(At 100%)5.016 F(damage, th\
e robot is "dead", and as such, the control program is no longer runnin\
g.)144 547.2 Q F3(dri)108 564 Q -.1(ve)-.1 G F1(de)2.6 E(gr)-.4 E
(ee speed)-.37 E F0 2.033(The dri)144 576 R 2.333 -.15(ve c)-.25 H 2.033
(ommand starts the robot').15 F 4.533(sd)-.55 G(ri)-4.533 E 2.333 -.15
(ve m)-.25 H(echanism.).15 E F1(De)7.033 E(gr)-.4 E(ee)-.37 E F0 2.033
(must be in the range 0-359.)4.533 F F1(Speed)144 588 Q F0 .386
(must be in the range 0-100.)2.886 F(An)5.386 E 2.886(yc)-.15 G .387
(hange in course that f)-2.886 F .387(alls outside the "De)-.1 F .387
(grees of course)-.15 F .06(change" table \(see "The Robot", abo)144 600
R -.15(ve)-.15 G 2.56(\)w).15 G .06(ill cause the robot')-2.56 F 2.56
(ss)-.55 G .06(peed to be set to 0 along the current)-2.56 F 2.548
(course. A)144 612 R .048
(speed of 0 causes the robot to coast to a stop.)2.548 F .049(The dri)
5.049 F .349 -.15(ve c)-.25 H .049(ommand returns the speed set.).15 F
(If the dri)144 624 Q .3 -.15(ve i)-.25 H 2.5(sc).15 G(urrently o)-2.5 E
-.15(ve)-.15 G(rheated, the maximum speed during o).15 E -.15(ve)-.15 G
(rheating \(35%\) will be set.).15 E F3(speed)108 640.8 Q F0 .328
(The speed command reports the current speed of the robot, 0-100.)144
652.8 R .328(Speed may return more or less)5.328 F .022(than what w)144
664.8 R .022(as last set with the dri)-.1 F .322 -.15(ve c)-.25 H .023
(ommand because of acceleration/deaccelearation, dri).15 F .323 -.15
(ve ove)-.25 H -.2(r-).15 G(heating, or collision into a w)144 676.8 Q
(all.)-.1 E F3(heat)108 693.6 Q F0 .645
(The heat command returns a list of tw)144 705.6 R 3.145(oi)-.1 G(nte)
-3.145 E .644(gers, the \214rst element is the o)-.15 F -.15(ve)-.15 G
.644(rheating \215ag, 1 if the).15 F .993(maximum motor heat v)144 717.6
R .993(alue w)-.25 F .993(as attained, otherwise 0.)-.1 F .994
(The second element is the current motor)5.994 F(heat inde)144 729.6 Q
(x, 0-200.)-.15 E 213.72(2/1/96 4)293.22 768 R EP
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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R/F1 10/Times-Bold@0 SF(loc_x)108 84 Q F0(The loc_x command returns \
the current x axis location of the robot, 0-999 meters.)144 96 Q F1
(loc_y)108 112.8 Q F0(The loc_y command returns the current y axis loca\
tion of the robot, 0-999 meters.)144 124.8 Q F1(tick)108 141.6 Q F0
1.146(The tick command returns the current robot clock tick, which has \
a 500 millisecond resolution.)144 153.6 R
(The clock is set to 0 upon robot startup.)144 165.6 Q F1(team_declar)
108 182.4 Q(e)-.18 E/F2 10/Times-Italic@0 SF(teamname)2.5 E F0 1.356
(The team_declare command sets the team alliance to the)144 194.4 R F2
(teamname)3.856 E F0(ar)3.856 E 3.856(gument. team_declare)-.18 F(is)
3.856 E 1.302(only ef)144 206.4 R(fecti)-.25 E 1.602 -.15(ve t)-.25 H
1.302(he \214rst time it is e).15 F -.15(xe)-.15 G 1.301
(cuted in a robot control program.).15 F 1.301(team_declare returns the)
6.301 F(teamname v)144 218.4 Q(alue.)-.25 E F1(team_send)108 235.2 Q F2
(data)2.5 E F0 1.12(The team_send command mak)144 247.2 R 1.12
(es the ar)-.1 F 1.12(gument a)-.18 F -.25(va)-.2 G 1.12
(ilable to all other robots with the same team-).25 F(name.)144 259.2 Q
F2(Data)6.549 E F0 1.549(is a single string ar)4.049 F 1.549
(gument, and can be an)-.18 F 4.048(yv)-.15 G 1.548(alue or list.)-4.298
F 1.548(If a team has not been)6.548 F(declared with the team_declare c\
ommand, the team_send command has no ef)144 271.2 Q(fect.)-.25 E F1
(team_get)108 288 Q F0 .997(The team_get command returns a list of team\
 members and their current data v)144 300 R 3.497(alues. Each)-.25 F
(ele-)3.497 E 1.063(ment of the list returned is a list of the digital \
signature of a team member and that robot')144 312 R 3.563(sl)-.55 G
(ast)-3.563 E .259(team_send data v)144 324 R 2.759(alue. If)-.25 F
2.759(at)2.759 G .26
(eam has not been declared with team_declare or all of the other mem-)
-2.759 F .765(bers of the team ha)144 336 R 1.065 -.15(ve n)-.2 H .765
(ot declared a team or are dead, the return v).15 F .765
(alue is an null list.)-.25 F .765(The robot)5.765 F -.15(exe)144 348 S
(cuting the team_get command is also e).15 E
(xcluded from the return list.)-.15 E(Con)108 369.6 Q -.15(ve)-.4 G
(nience commands).15 E .955(The follo)108 386.4 R .955
(wing Tcl commands are a)-.25 F -.25(va)-.2 G .955
(ilable to the robot control program.).25 F .956(As such, the)5.956 F
3.456(ye)-.15 G -.15(xe)-3.606 G .956(cute immedi-).15 F
(ately without the 100 millisecond interf)108 398.4 Q(ace time.)-.1 E F1
(dputs)108 415.2 Q F2(ar)2.5 E(gs)-.37 E F0 .344
(The dputs command prints a message on the robot')144 427.2 R 2.843(ss)
-.55 G .343(tatus windo)-2.843 F 4.143 -.65(w. D)-.25 H .343
(puts accepts an).65 F 2.843(yn)-.15 G .343(umber of)-2.843 F(ar)144
439.2 Q(guments.)-.18 E F1(rand)108 456 Q F2(max)2.5 E F0 .56
(The rand command is a simple random number generator)144 468 R 3.061
(,b)-.4 G .561(ased on Knuth')-3.061 F 3.061(sa)-.55 G 3.061
(lgorithm. The)-3.061 F(rand)3.061 E .298(command returns an inte)144
480 R .298(ger between 0 and \()-.15 F F2(max)2.798 E F0 2.798(-1)2.798
G .298(\), where max is in the range 1 to 65535.)-2.798 F(The)5.298 E
1.602(seed v)144 492 R 1.602
(alue is randomly set; if a particular seed v)-.25 F 1.603
(alue is desired, the global v)-.25 F(ariable)-.25 E F2(_lastvalue)4.103
E F0(should be set to some starting v)144 504 Q(alue.)-.25 E/F3 9
/Times-Bold@0 SF(WRITING R)72 530.4 Q(OBO)-.27 E 2.25(TC)-.36 G(ONTR)
-2.25 E(OL PR)-.27 E(OGRAMS)-.27 E F0(Se)108 542.4 Q -.15(ve)-.25 G .443
(ral internal v).15 F .443(ariables and procedures are loaded into a ro\
bot before loading the robot control program.)-.25 F(Reserv)108 554.4 Q
.157(ed v)-.15 F .157(ariables and commands be)-.25 F .158
(gin with and underscore "_" or dot ".".)-.15 F .158(Do not use v)5.158
F .158(ariables or proce-)-.25 F(dures in robot control program that be)
108 566.4 Q(gin with either symbol.)-.15 E .126
(Robot control programs may set v)108 583.2 R .126
(ariables or de\214ne procedures as required.)-.25 F .125
(Robot control programs should)5.125 F(ne)108 595.2 Q -.15(ve)-.25 G
2.93(re).15 G .43(xit, as the)-3.08 F 2.93(yw)-.15 G .43
(ill not be restarted by TclRobots.)-2.93 F .431
(Thus, the main processing should be enclosed in an)5.431 F
(endless loop, e.g. "while 1 { ... }")108 607.2 Q 1.609
(Most standard Tcl commands are a)108 624 R -.25(va)-.2 G 1.609
(ilable to robot control programs.).25 F 1.608
(Notable Tcl commands that are)6.608 F 1.974(missing: all \214le I/O \()
108 636 R F2 -.1(ge)4.474 G 1.974(ts, puts, open, close).1 F(,)-.1 E F0
(etc.\),)4.474 E F2 -.2(ex)4.474 G 1.974(ec, info,).2 F F0 1.974
(standard Tcl library procs \()4.474 F F2(auto_load,)4.475 E
(unknown, tk)108 648 Q(err)-.1 E(or)-.45 E F0(etc.\))2.5 E .834
(In addition, most standard Tk commands are also missing.)108 664.8 R
.834(Tk commands that are a)5.834 F -.25(va)-.2 G .833(ilable are).25 F
F2(after)3.333 E F0(and)3.333 E F2(update)108 676.8 Q(.)-.15 E F0 .474
(Each syscall implicitly performs the)5.474 F F2(update)2.974 E F0 .474
(command, or the programmer can e)2.974 F -.15(xe)-.15 G .474
(cute it an).15 F 2.974(yt)-.15 G(ime)-2.974 E
(to ensure that commands scheduled with)108 688.8 Q F2(after)2.5 E F0
(are run.)2.5 E(An)108 705.6 Q 2.53(y")-.15 G(unkno)-2.53 E .03
(wn" procedure, or "tk)-.25 F .029
(error" situation is reported in the robot')-.1 F 2.529(ss)-.55 G .029
(tatus windo)-2.529 F 1.329 -.65(w, a)-.25 H .029(nd the robot pro-).65
F(gram may terminate.)108 717.6 Q 213.72(2/1/96 5)293.22 768 R EP
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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R .122(Robot control programs may also e)108 84 R .122(xamine \(b)
-.15 F .122(ut not set\) the global v)-.2 F(ariable)-.25 E/F1 10
/Times-Italic@0 SF(_deb)2.622 E(ug)-.2 E F0 .122(to cause deb)2.622 F
.122(ugging code)-.2 F .95(to be e)108 96 R -.15(xe)-.15 G .95
(cuted during battle simulation.).15 F F1(_deb)5.95 E(ug)-.2 E F0 .95
(is set to 1 if running in the simulator)3.45 F 3.45(,0o)-.4 G 3.45
(therwise. \(see)-3.45 F("The Simulator" belo)108 108 Q -.65(w.)-.25 G
(\)).65 E(If the)108 124.8 Q F1(alert)2.5 E F0
(command is used, the procedure it speci\214es should e)2.5 E
(xist, and tak)-.15 E 2.5(eo)-.1 G(ne ar)-2.5 E(gument, e.g.)-.18 E
(proc I_W)144 141.6 Q(as_Scanned {who} {)-.8 E(dputs $who scanned me!)
149 153.6 Q(})144 165.6 Q(alert I_W)144 177.6 Q(as_Scanned)-.8 E(An)108
194.4 Q 3.374(yv)-.15 G .875
(alid \214lename can be used for a robot control program; a suf)-3.624 F
.875(\214x of)-.25 F/F2 10/Times-Bold@0 SF(.tr)3.375 E F0 .875
(is recommended to indicate a)3.375 F(TclRobots \214le.)108 206.4 Q -.7
(Te)108 223.2 S 1.218(ams of robots may compete by using team_declare, \
team_send, and team_get commands.).7 F 1.217(Each robot)6.217 F .335(co\
ntrol program that is part of a team should declare its team alliance b\
y using the team_declare command)108 235.2 R .963
(near the start of its program.)108 247.2 R .962
(The teams may then communicate by using team_send and team_get.)5.963 F
(The)5.962 E
(robot control programs for team members need not be the same.)108 259.2
Q -.7(Te)108 276 S .335(am communication uses a passi).7 F .635 -.15
(ve m)-.25 H 2.835(odel. A).15 F .335
(member of a team may post a data item at an)2.835 F 2.836(yt)-.15 G
2.836(ime. When)-2.836 F 1.777(other team members e)108 288 R -.15(xe)
-.15 G 1.776(cute a team_get command, the other team member').15 F 4.276
(sd)-.55 G 1.776(igital signature and last)-4.276 F .598
(posted data item are returned.)108 300 R .598(Data e)5.598 F .599
(xchanged and protocol between team members are completely arbri-)-.15 F
(trary)108 312 Q 4.522(,a)-.65 G(llo)-4.522 E 2.022
(wing each team to interpret data.)-.25 F 2.022(Possible e)7.022 F 2.022
(xamples might the signature and location of an)-.15 F(enemy)108 324 Q
2.5(,c)-.65 G(urrent location, pleas for help, etc.)-2.5 E .67
(Nothing pre)108 340.8 R -.15(ve)-.25 G .67
(nts fratricide among team members.).15 F .67
(Since the digital signature of a scanned tar)5.67 F .67(get is a)-.18 F
-.25(va)-.2 G(il-).25 E
(able, robots should check their list of team members to a)108 352.8 Q
-.2(vo)-.2 G(id "friendly \214re.").2 E/F3 9/Times-Bold@0 SF(THE TCLR)72
374.4 Q(OBO)-.27 E(TS USER INTERF)-.36 E -.495(AC)-.81 G(E).495 E F0
.402(TclRobots has a user interf)108 386.4 R .402
(ace to start battles, run the simulator)-.1 F 2.902(,c)-.4 G .402
(ommence a tournament, and vie)-2.902 F 2.901(wb)-.25 G(attles)-2.901 E
(in progress.)108 398.4 Q
(Upon startup, TclRobots displays a bar of \214v)5 E 2.5(eb)-.15 G
(uttons, and tw)-2.7 E 2.5(ol)-.1 G(istbox)-2.5 E 2.5(es. The)-.15 F -.2
(bu)2.5 G(ttons are:).2 E 32.67(-R)108 415.2 S
(un Battle - runs a battle with selected robots)-32.67 E 32.67(-S)108
432 S(imulator)-32.67 E(.. - starts the simulator dialog)-.55 E 32.67
(-T)108 448.8 S(ournament.. - starts the tournament controller)-33.47 E
32.67(-A)108 465.6 S(bout.. - a small about box with TclRobots v)-32.67
E(ersion number)-.15 E 32.67(-Q)108 482.4 S(uit - immediately e)-32.67 E
(xits TclRobots)-.15 E(The tw)108 499.2 Q 2.5(ol)-.1 G(istbox)-2.5 E(es\
 are a \214le section box \(left side\), and a list of selected robot \
\214les \(right side\).)-.15 E 1.091(The \214le section box presents a \
list of directories and \214les in the current directory)108 516 R 6.092
(.D)-.65 G 1.092(ouble-clicking on a)-6.092 F .352
(directory changes to that directory)108 528 R 5.351(.D)-.65 G .351(oub\
le-clicking on a \214le chooses that \214le to be run in a battle, simu\
la-)-5.351 F(tor)108 540 Q 2.75(,o)-.4 G 2.75(rt)-2.75 G 2.75
(ournament. A)-2.75 F .25(\214le \214lter entry is presented at the top\
 of the \214le selection box and may be used to \214l-)2.75 F .527
(ter the selection by entering a pattern and pressing "Filter".)108 552
R .527(At the bottom of the \214le selection list is a \214le)5.527 F
3.374(selection. Entering)108 564 R 3.374<618c>3.374 G .875(le and pres\
sing "Select" will enter that \214le in the "Robot Files Selected" list\
.)-3.374 F(The)5.875 E -.2(bu)108 576 S(tton labeled "Select All" will \
select all \214les in the \214le selection box to the Robot Files Selec\
ted list.).2 E .184(Robot \214les should be selected before pressing "R\
un Battle", "Simulator)108 592.8 R .184(..", or "T)-.55 F 2.684
(ournament..". T)-.8 F 2.684(or)-.8 G .184(un a sin-)-2.684 F .371
(gle battle, select tw)108 604.8 R 2.871(ot)-.1 G 2.871(of)-2.871 G .371
(our robot \214les from the \214le selection list.)-2.871 F 2.871(As)
5.371 G .371(ingle \214le may be selected more than)-2.871 F .504
(once; separate robots will be loaded with the same \214le.)108 616.8 R
.504(If the "Simulator)5.504 F 3.004(.." b)-.55 F .504
(utton is pressed, the \214rst \214le)-.2 F .624
(in the Robot Files Selected list will be used for the Simulator)108
628.8 R 5.625(.I)-.55 G 3.125(ft)-5.625 G .625(he "T)-3.125 F .625
(ournament.." b)-.8 F .625(utton is pressed, all)-.2 F .874
(\214les in the Robot Files Selected list will be run in a tournament f)
108 640.8 R 3.374(ashion. In)-.1 F 3.374(at)3.374 G .873
(ournament, duplicate \214les)-3.374 F(will be remo)108 652.8 Q -.15(ve)
-.15 G 2.5(df).15 G(rom the list.)-2.5 E .377
(The Robot Files Selected listbox has tw)108 669.6 R 2.877(ob)-.1 G .377
(uttons, "Remo)-3.077 F -.15(ve)-.15 G .377(", and "Remo).15 F .677 -.15
(ve A)-.15 H 2.877(ll". Selecting).15 F 2.877<618c>2.877 G .377
(le by single)-2.877 F .865(clicking and pressing the Remo)108 681.6 R
1.165 -.15(ve b)-.15 H .865(utton will remo)-.05 F 1.165 -.15(ve t)-.15
H .865(hat \214le from the list.).15 F .864(The Remo)5.864 F 1.164 -.15
(ve A)-.15 H .864(ll b).15 F .864(utton will)-.2 F(remo)108 693.6 Q .3
-.15(ve a)-.15 H(ll \214les from the Robot Files Selected list.).15 E
1.387(Robot \214les selected are not v)108 710.4 R 3.887(eri\214ed; if)
-.15 F 3.888<618c>3.888 G 1.388
(le other than a TclRobots robot control program is selected,)-3.888 F
(results are unpredictable.)108 722.4 Q 213.72(2/1/96 6)293.22 768 R EP
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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R .661(When "Run Battle" is pressed, TclRobots will spa)108 84 R .661
(wn a ne)-.15 F 3.161(ww)-.25 G .66(ish interpreter)-3.161 F 3.16(,p)-.4
G .66(osition it to the right of the)-3.16 F 1.835(main windo)108 96 R
3.135 -.65(w, a)-.25 H 1.835
(nd load it with a selected robot control program.).65 F 1.835
(After all robot wish interpreters are)6.835 F(spa)108 108 Q .816
(wned, the \214le selection frame is replaced with a vie)-.15 F 3.315
(wo)-.25 G 3.315(nt)-3.315 G .815
(he battle\214eld and the battle will commence.)-3.315 F .231
(Each robot is assigned a speci\214c color)108 120 R 2.731(,a)-.4 G .232
(nd is represented on the battle\214eld by a unique arro)-2.731 F 2.732
(ws)-.25 G .232(hape of that)-2.732 F(color)108 132 Q 6.038(.W)-.55 G
1.038(hen a robot issues the)-6.038 F/F1 10/Times-Italic@0 SF(scanner)
3.538 E F0 1.037
(command, the scan is represented by an arc emanating from the)3.538 F
3.359(robot. The)108 144 R .859
(arc represents the scan direction and resolution width.)3.359 F .86
(The end of the arc represents the can-)5.859 F(non')108 156 Q 2.5(sm)
-.55 G(aximum range \(the scanner')-2.5 E 2.5(sr)-.55 G
(ange is not limited.\))-2.5 E .341
(Shells \214red by a robot are represented by a small black dot.)108
172.8 R .341(The robot')5.341 F 2.841(sc)-.55 G .341
(urrent damage status is sho)-2.841 F .341(wn in)-.25 F(the robot')108
184.8 Q 2.5(ss)-.55 G(tatus windo)-2.5 E 1.3 -.65(w, j)-.25 H
(ust to the right of the robot program \214le name.).65 E .546
(During a battle, the "Run Battle" b)108 201.6 R .546
(utton is replaced, by "Halt".)-.2 F .546
(If pressed, the current battle is halted, and)5.546 F 1.066(the spa)108
213.6 R 1.066(wned robot interpreters e)-.15 F 3.566(xit. The)-.15 F
1.066("Halt" b)3.566 F 1.066
(utton is then replaced with "Reset", which remo)-.2 F -.15(ve)-.15 G
3.566(st).15 G(he)-3.566 E
(battle\214eld, and presents the \214le selection frame.)108 225.6 Q
(Indi)108 242.4 Q .597(vidual wish interpreters for the robots contain \
a listbox and scrollbars, which displays output from the)-.25 F .98
("dputs" command.)108 254.4 R .98(The robot')5.98 F 3.48(st)-.55 G .979
(itle bar title is set to the program \214le name, appended with the as\
signed)-3.48 F .289(digital signature.)108 266.4 R .289(The robot')5.289
F 2.789(sc)-.55 G(ummulati)-2.789 E .589 -.15(ve a)-.25 H .289
(mount of damage is sho).15 F .29
(wn as a percentage, just to the right of)-.25 F(the robot')108 278.4 Q
2.5<738c>-.55 G(lename.)-2.5 E/F2 9/Times-Bold@0 SF(THE SIMULA)72 304.8
Q -.162(TO)-.855 G(R).162 E F0 .065(The "Simulator)108 316.8 R .065
(.." b)-.55 F .064(utton starts the simulator)-.2 F 2.564(,u)-.4 G .064
(sing the \214rst entry in the Robot Files Selected list.)-2.564 F 2.564
(As)5.064 G(imula-)-2.564 E(tor control windo)108 328.8 Q 2.5(wa)-.25 G
(ppears, and a tar)-2.5 E
(get robot is placed in the middle of the battle\214eld \(500,500\).)
-.18 E .126(The Simulator allo)108 345.6 R .126
(ws a robot program to be e)-.25 F .127(xamined during robot e)-.15 F
-.15(xe)-.15 G .127(cution, re).15 F -.15(ve)-.25 G .127
(aling important informa-).15 F .62(tion about the robot.)108 357.6 R
3.12(Ar)5.62 G .619
(obot control program can be set to stop on each "syscall" \(an)-3.12 F
3.119(yo)-.15 G 3.119(ft)-3.119 G .619(he robot hard-)-3.119 F -.1(wa)
108 369.6 S .488(re interf).1 F .488(ace commands.\))-.1 F .489(While t\
he robot program is paused, the simulator can query or set global v)
5.488 F(ari-)-.25 E(ables in the robot control program.)108 381.6 Q .947
(The Simulator has its control b)108 398.4 R .947
(uttons at the top of the Simulator windo)-.2 F 4.747 -.65(w. A)-.25 H
(checkb)4.097 E .946(utton "Step syscalls")-.2 F .41
(toggles the single step action of the robot control program.)108 410.4
R .411(The b)5.411 F .411(utton "Single Step" will also set the Step)-.2
F 1.953(Syscalls checkb)108 422.4 R 1.953(utton, or allo)-.2 F 4.453(wt)
-.25 G 1.953(he robot control program to run to the ne)-4.453 F 1.953
(xt syscall if already in Step)-.15 F 4.047(Syscalls. The)108 434.4 R
-.2(bu)4.047 G 1.547
(tton "5% Hit" simulates the robot incurring damage.).2 F 1.547(The b)
6.547 F 1.548(utton "Scan" simulates the)-.2 F .862
(robot being scanned by the tar)108 446.4 R 3.361(get. The)-.18 F(tar)
3.361 E(get')-.18 E 3.361(sd)-.55 G .861(sp signature is "1".)-3.361 F
.861(The b)5.861 F .861(utton "Close" will remo)-.2 F 1.161 -.15(ve t)
-.15 H(he).15 E(simulator and the spa)108 458.4 Q
(wned robot wish interpreter)-.15 E 2.5(,a)-.4 G
(nd return to the \214le selection listbox frame.)-2.5 E .359
(When the "Step Syscalls" b)108 475.2 R .359(utton is in the "of)-.2 F
.359(f" state, the robot e)-.25 F -.15(xe)-.15 G .36
(cutes its code in real time.).15 F .36(During "Sin-)5.36 F .452
(gle Step", e)108 487.2 R -.15(xe)-.15 G .452
(cution is paused at the ne).15 F .452(xt syscall and one motion time c)
-.15 F .451(ycle is e)-.15 F -.15(xe)-.15 G 2.951(cuted. Thus,).15 F
.451(time is not)2.951 F .164(accurately represented.)108 499.2 R .164
(The beha)5.164 F .164(vior of a robot that is single stepped may be e)
-.2 F .164(xaggerated, especially while)-.15 F(the robot is in motion.)
108 511.2 Q .17(As the battle is simulated, the robot')108 528 R 2.67
(sXa)-.55 G .17(nd Y location, current heat inde)-2.67 F .17
(x, speed, heading, and damage are)-.15 F 3.45(updated. If)108 540 R .95
(the simulator is in the Step Syscalls state, these attrib)3.45 F .95
(utes may also be set by entering a ne)-.2 F(w)-.25 E -.25(va)108 552 S
2.632(lue. P).25 F .132(arameter \214elds only accept numeric entries i\
n the range that is acceptable for an)-.15 F 2.631(yp)-.15 G .131
(articular param-)-2.631 F(eter)108 564 Q 5.634(.T)-.55 G .634
(he "Heat" entry turns red \(in)-5.634 F -.15(ve)-.4 G .635
(rse on monochrome displays\) when the robot').15 F 3.135(sm)-.55 G .635
(otor is the in o)-3.135 F -.15(ve)-.15 G -.2(r-).15 G(heated state.)108
576 Q .769(The last syscall e)108 592.8 R -.15(xe)-.15 G .769
(cuted by the robot is sho).15 F .769(wn, along with the ar)-.25 F .769
(guments to the call \(if an)-.18 F 3.269(y\). The)-.15 F(return)3.268 E
-.25(va)108 604.8 S .789(lue from the syscall is sho).25 F .789
(wn in parentheses.)-.25 F .79
(The current clock tick and barrel temperature is also dis-)5.789 F .407
(played, b)108 616.8 R .407(ut cannot be altered.)-.2 F .406(If the rob\
ot program use the "after" command to schedule syscalls \(or procs)5.407
F .41(that contain syscalls\), then those commands may continue to run,\
 running tw)108 628.8 R 2.911(os)-.1 G .411
(yscalls while in single step)-2.911 F(mode.)108 640.8 Q .744
(At the bottom of the simulator)108 657.6 R 3.244(,g)-.4 G .743(lobal v)
-3.244 F .743(ariables in the robot may be e)-.25 F .743
(xamined or set.)-.15 F .743(Entering a v)5.743 F(ariable)-.25 E .732
(name in the "V)108 669.6 R .732
(ariable" entry and pressing enter or the "Examine" b)-1.11 F .733
(utton will display the v)-.2 F(ariable')-.25 E 3.233(sv)-.55 G(alue.)
-3.483 E(Entering a ne)108 681.6 Q 2.5(wv)-.25 G(alue in the "V)-2.75 E
(alue" entry and pressing enter or the "Set" b)-1.11 E
(utton will set the v)-.2 E(ariable.)-.25 E 213.72(2/1/96 7)293.22 768 R
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/F0 10/Times-Roman@0 SF 164.56(TclRobots\(6\) Tcl/Tk TclRobots\(6\))72
48 R/F1 9/Times-Bold@0 SF -.162(TO)72 84 S(URN).162 E(AMENT CONTR)-.18 E
(OLLER)-.27 E F0 .369(The "T)108 96 R .369(ournament.." b)-.8 F .369
(utton starts the T)-.2 F .368(ournament Controller windo)-.8 F 4.168
-.65(w. W)-.25 H .368(hen the "Start T).65 F .368(ournament" b)-.8 F
(utton)-.2 E .187(is pressed, \214les in the Robot Files Selected windo)
108 108 R 2.688(wa)-.25 G .188
(re \214rst scanned for uniqueness, ignoring an)-2.688 F 2.688(yd)-.15 G
(uplicate)-2.688 E 3.302(\214lenames. A)108 120 R .802
(tournament is run on the remaining \214les in a round-robin f)3.302 F
.802(ashion, each robot battling e)-.1 F -.15(ve)-.25 G(ry).15 E(other)
108 132 Q 2.5(,o)-.4 G(ne-on-one.)-2.5 E 2.962(At)108 148.8 S .463
(ime limit is imposed on each battle.)-2.962 F .463(The def)5.463 F .463
(ault is 10 minutes per battle, and may be set in the "Maxi-)-.1 F 1.209
(mum minutes per match" entry)108 160.8 R 6.208(.O)-.65 G(ptionally)
-6.208 E 3.708(,t)-.65 G 1.208(ournament results may be sa)-3.708 F -.15
(ve)-.2 G 3.708(di).15 G 1.208(nto a \214le by specifying a)-3.708 F
-.25(va)108 172.8 S
(lid \214le name in the "Optional results \214le" entry).25 E(.)-.65 E
(Results of each indi)108 189.6 Q
(vidual match are displayed in the "Results" listbox.)-.25 E .074
(Each battle is scored.)108 206.4 R 2.574(Ar)5.074 G .074
(obot winning a match recei)-2.574 F -.15(ve)-.25 G 2.574(st).15 G .075
(hree points.)-2.574 F 2.575(At)5.075 G .075
(ie match \(both robots still running)-2.575 F 1.441
(after the time limit e)108 218.4 R 1.441
(xpires\) results in one poi