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An application is an executable program created by a programmer using one of several programming languages. Linux provides several utilities with which a programmer can control development of an application. Foremost among these is the gcc utility, which invokes the compiler for the C and C++ programming languages, generating an executable version of a program. Most Linux applications are written in the C or C++ programming language. Application development often makes extensive use of libraries. You can create your own libraries or choose from specialized libraries. You can use libraries such as the X Windows library to program X Window displays, or the gdbm library, with which you can have

database access to files. Libraries have become more flexible and can now be shared or loaded dynamically. Other utilities allow you to better manage the development of your applications. The gdb symbolic debuggers help you to locate runtime errors. indent and cproto help you prepare your source code. Autoconf and RPM help you package your software for distribution. Version control systems such as RCS and CVS help you maintain a record of changes as you develop a software application. Table 1 lists the development tools described in this chapter. Table 1: Programming: Tools Description GNU C and C++ compiler, www.gnu.org/software/gcc GNU debugger, www.gnu.org/software/gdb Revision Control System, www.gnu.org/software/rcs Control Versions System, www.cvshome.org Online manual documentation Automatic configuration for source code software compiling, www.gnu.org/software/autoconf

The subroutines you write for TURN and FORWARD have another responsibility beyond that of moving the robot After they have commanded the motors to create the requested movement, they must read the line sensors, the infrared sensors, and the bumpers This data (3 bytes) must be sent back to RobotBASIC via the serial port or radio link (again, see the help les for more information) Actually the amount of data sent back to RobotBASIC is always 5 bytes in order to provide consistency The additional 2 bytes are required in some commands [eg, rLook()] where data has to be returned in addition to the status of the above three sensors When these 2 bytes are not required, they must be set to 0 and sent anyway The reason for this is to make the number of bytes received and sent back the same for all the commands.

Though there are Man pages for all the compilers and their tools, much more detailed information is available through the GNU info system. These are files located in the /usr/info directory that contain detailed descriptions and examples for various GNU tools. They are the equivalent of compact online manuals. There are info documents for the gcc compiler, the C and C++ libraries, and the Autoconf utility. Other applications may have their own local directories with info files such as the /usr/TeX/info directory that holds info files for LaTeX. You invoke the main menu of info documents by entering the command info.

You then use the SPACEBAR to page down the menu. When you find a topic you want, you press the m key. This opens up a line at the bottom of the screen where you can type in the name of the menu item. When you press ENTER, that document comes up. Pressing b pages you back to the beginning, and U puts you up to the previous menu. The command info info will bring up a tutorial on how to use info.

There is a special relationship between the Unix operating system and the C programming language. The C programming language was developed specifically as a tool for programming the Unix operating system. The code for the Unix operating system is actually written in C. Linux has the same kind of special relationship. Most Linux systems include the GNU version of the C compiler, gcc. The C programming language is a very complex language with many different features. This section briefly describes the basic components of the C programming language and uses them to construct a useful programming example. With an example program, we can then examine the different ways you can compile C programs.

This makes for a simpler and faster communications protocol on both the microcontroller and in RobotBASIC The protocol requires that the robot using this protocol always expects to get 2 bytes from RobotBASIC and always send back 5 bytes If your robot does not have bumpers or infrared or line sensors, it must send 0 as values for the bytes RobotBASIC will store the sensor values received in a buffer and supply them to your programs when requested by the functions, rSense(), rFeel(), and rBumper() This gives you tremendous exibility Let s look at an example Assume for a moment that a robot you are building does not have line sensors but does have some form of custom sensor.