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Table 2: The: gcc Utility: the C Compiler Description The gcc utility creates an executable program using a preprocessor, a compiler, an assembler, and a linker. The preprocessor executes preprocessing commands found in the source code file. Such commands perform simple text substitutions. The compiler compiles a source code file into assembly code. The assembler then compiles assembly code files into object code files. The linker then links object code files into an executable file.gcc takes as possible arguments source code, object code, and assembly code files as well as several options. gcc recognizes a file by its extension: .c C source code files .o Object code files .s Assembly code files .m Objective C .a Archive library files Invokes the cc utility work on C++ source code files. g++ takes as possible arguments source code, object code, and assembly code files as well as several options. gcc recognizes a file by its extension: .C C++ files .cpp C++ files .cc C++ source code files .o Object code files .s Assembly code files Function Output only assembly code. Assembly code versions of compiled

Table 2: The: gcc Utility: the C Compiler Description files have extension .s. The example will generate a file called greet.s.

Environmental destruction Exhaustion of nonrenewable energy Overpopulation Atomic threat Wars on national level Economic underdevelopment Threats to social security

Output result of preprocessor. Create object code file only. Object code versions of compiled files have the extension .o. Prepare compiled program for use with symbolic debugger. Name the executable file filename. Default is a.out. Optimize compilation. Link system library by name of filename. The filename is preceded by lib and has an extension of .a. Neither is included on the gcc command line. The -l options must always be placed after source code and object code filenames on the command line.

Figure 17.21 shows a sample skeleton control program. It is written for the BS2 in PBASIC. Notice that the sending and receiving of the serial data is expected on pins 0 and 1 of the BS2. How this communication data arrives at these pins is immaterial. You can use Parallax s EB500 Bluetooth module to perform the communication or any other wireless transceiver or even a direct wire, if you are doing some testing and don t want to commit to a speci c transceiver. Even if you are using another controller or other hardware, this structure should help you develop an appropriate control program for your robot. Typical code has been given for several routines. All the others have been left as an exercise for the reader. Remember, the example code here is only valid for the modi ed Boe-Bot robot built in Sec. 17.2. Use this code as a guide to preparing a program for your system. The capability described above puts RobotBASIC in a class of its own. Once you have created a physical robot, and programmed it with control software that can receive and execute the 2-byte commands and return the required 5-bytes sensory data, you have a fantastic robot development system. After you develop your algorithm using the simulator as we have done throughout this text, you simply add the following line:

With multiple-file programs, you need to keep in mind the difference between the C compiler and the linker. The purpose of a C compiler is to generate object code, whereas the purpose of a linker is to build an executable file using object code files. The C compiler will individually compile each source code file, generating a separate object code file for each one. These object code files will have the extension .o instead of .c. You compile and link multiple file programs using the same gcc command. Simply list the source code filenames as arguments on the command line. In the next example, the user compiles the bookrecs program by invoking gcc with the source code files that make it up. The -o option specifies that the executable file will be called bookrecs.

You can use the gcc utility to perform just a link operation by only listing object code files as its arguments. An object code file has a .o extension. In the next example, the user just performs a link operation. No compiling takes place. Of course, this operation assumes that the object code files have been previously generated.

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