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In this construct the statements between the if and else will be executed if the condition is true but not the statements between the else and endif. If the condition is false the statements between the else and endif will be executed but not the ones between the if and else. You will see examples of these three constructs in programs throughout the book. Refer to Apps. B.6 and C.6 for more details and additional ways to use this construct. 3.1.3 COMPARISON OPERATORS In RobotBASIC you can compare if something is greater than another ( ), is equal to another ( ), is less than another ( ), if it is less than or equal to another ( ), if it is greater than or equal to another ( ), and nally if it is not equal to another ( ). All these operations are achieved with comparison operators. In the above section we test for conditions using these operators. See Sec. B.7.5 for further details. 3.1.4 LOOPS It is often necessary to repeat a section of code a certain number of times or while a certain condition is true. We will discuss these looping constructs in detail in Chap. 4. In this chapter we will use this construct in a simple way. The for-next and while-wend looping constructs are used here to move the robot forward a xed number of steps in the rst example and while it is not bumping into objects in the second example. For now, study the use of these constructs in the light of the programs given. 3.1.5 BINARY NUMBERS In order to understand how most of the sensory data is organized you will need a basic knowledge of binary numbers.

The elsels script in the next example executes the ls command to list files with two different possible options, either by size or with all file information. If the user enters an s, files are listed by size; otherwise, all file information is listed. elsels

echo Enter s to list file sizes, echo otherwise all file information is listed. echo -n "Please enter option: " read choice if [ "$choice" = s ] then ls -s else ls -l fi echo Good-bye

24 1 = 16 1 = 16 23 1 = 8 1 = 8 22 0 = 4 0 = 0 21 0 = 2 0 = 0 20 1 = 1 1 = 1 (LSB-Least Significant Bit) 25

A run of the elsels script is shown here:

$ elsels Enter s to list file sizes, otherwise all file information is listed. Please enter option: s total 2 1 monday 2 today $

The elif structure allows you to nest if-then-else operations. The elif structure stands for "else if." With elif, you can choose between several alternatives. The first alternative is specified with the if structure, followed by other alternatives, each specified by its own elif structure. The alternative to the last elif structure is specified with an else. If the test for the first if structure fails, control will be passed to the next elif structure, and its test will be executed. If it fails, control is passed to the next elif and its test checked. This continues until a test is true. Then that elif has its commands executed and control passes out of the if structure to the next command after the fi keyword.

In a decimal number like 234 the convention is that the rst digit (going right to left) is the ones digit, the second is the tens digit, the third is the hundreds digit, and so on (1000, 10000, etc) You will notice this is the same as saying 1, 10, 10 10, 10 10 10, and so on or in more mathematical language 100, 101, 102, 103, and so on So the number 234 can be understood to mean 2 102 3 101 4 100 200 30 4 234 Notice that we have ten digits 0 to 9 We do not have a symbol for ten Since ten is 10, that is 1 in the 101 place and 0 in the 100 place which means 1 10 0 1 10 0 10 The decimal system is referred to as base-10.

The logical commands perform logical operations on two Linux commands. The syntax is as follows:

In the case of the logical AND, &&, if both commands are successful, the logical command is successful. For the logical OR, ||, if either command is successful, the OR is successful and returns an exit status of 0. The logical commands allow you to use logical operations as your test command in control structures.