1. We can’t walk on water, Trinity Software computer simulation. but we can produce the

2. Overview Week 4 Schedule Changes in Interface Prototype –Old Interface –New Interface Ping Speed Sonar Re-Init

3. Overview (cont.) A-7 Specification Examples –Techniques –Sample Glossary of Constants –Sample Text Macros –Sample Conditions –Sample Events

4. Week 4 Schedule February 7, 1500 to 1700 –Studio Lab February 8, 1700 to 1745 –Group Meeting with TA February 11, 1200 to 1400 –Added Features to Prototype Interface –Developed Specifications Document

5. Week 4 Schedule (cont) February 13, 1400 to 1700 –Finished Interface Specification Document –Comm. Protocol with Identity Software –Finalizing Web Page Design

6. Old Prototype Interface

7. New Prototype Interface Ping Speed Sonar ?Re-Init?

8. Ping Added a Ping Response Meter Shows Latency in Sending Commands to the Robot. Box Color Gives Rate of Delay. Green(low), Yellow, Red(high) Back to New Interface

9. Speed Originally Five Concrete Speed Settings Determined that User should be able to specify speed settings Speed is Now a Percentage of the Max Speed. Back to New Interface

10. Sonar Square Grid Originally Represented the Sonar Map. Sonar Sensors are Laid Out in a Circular Pattern Around Robot Concentric Grid More Accurately Represents Data from Readings Back to New Interface

11. ?Re-Init? The Differences between the Init and Re-Init Buttons are negligible. The Re-Init button is not necessary. Re-Init was removed Re-Init Robot Back to New Interface

12. A-7 Specification Techniques Sample Glossary of Constants Sample Text Macros Sample Conditions Sample Events

13. Techniques Symbolic Constants Text Macros Conditions Events

14. Symbolic Constants $pi$ = 3.14 Defines a constant pi to be a certain number This makes the document easier to read If pi were to change, i.e. defined to more places, it would only have to be changed in the glossary and not the whole document Constants are contained in $ signs

15. Sample Glossary $MaxPanAngle$ = 90 o $MinPanAngle$ = -45 o $MaxTiltAngle$ = 90 o $MinTiltAngle$ = -90 o $MaxRobotSpeed$ = 200

16. Text Macros Concise way to describe functions It is contained in exclamation points The text must be lower case

17. Sample Text Macros !set auto pilot! – sets the auto pilot coordinates !set coord! – sets internal coordinates to (0,0) !move forward! – moves the robot forward !set speed! – sets the robot speed !center camera! – sets tilt and pan angles to 0

18. Conditions Simplified if-then-else statements Makes specs easier to follow Does not use the if-then-else syntax Conditions are contained in % signs

19. Sample Conditions %LowDelay% = (!ping response! is between $GreenRange$) If the ping response is in the green range, then the LowDelay boolean condition is TRUE

20. Events The system is in a certain state if a set of conditions is satisfied, or Performs an action when a set of conditions is satisfied Events are contained in * signs

21. Sample Event *Stop* = (%Bump Active% is TRUE) AND (%Auto Stop% is TRUE) The Action *Stop* is performed if the conditions %Bump Active% and %Auto Stop% are both true

22. Questions?