Advanced Guide to RohLang Programming

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Welcome to the advanced tutorial for RohLang, where we will explore the advanced programming capabilities of the Rohbot Kit. This guide is intended for those who are familiar with the basics of RohLang and wish to explore its more complex functionalities.

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Advanced Commands and Syntax

1. Parameterized Commands:
   - RohLang allows the use of parameters with commands for more precise control. For example, `F 3 50` could mean "move forward for 3 seconds at 50% speed."

2. Sensor Integration:
   - Utilize sensor data in your commands. For example, `IF IR_SENSOR < 20 THEN F 2` commands the robot to move forward if the infrared sensor reading is less than 20.

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Complex Movement Patterns

Let's create a program that makes the robot follow a more complex pattern, like an '8' figure.

// Move in figure 8
LOOP 2
    F 2    // Move forward
    R 45   // Turn slightly right
    F 3    // Move forward in curve
    R 90   // Sharper right turn
    F 3    // Complete the loop part of 8
    R 45   // Align to start next loop
ENDLOOP
S        // Stop after completing figure 8

Working with Functions

Functions in RohLang allow you to encapsulate a set of commands and reuse them.

// Define a function for a zigzag pattern
FUNCTION zigzag
    F 2  // Move forward
    R 45 // Turn right 45 degrees
    F 2  // Move forward
    L 45 // Turn left 45 degrees
ENDFUNCTION

// Call zigzag function twice
CALL zigzag
CALL zigzag

Advanced Sensor-Based Decision Making

Utilize sensor data for dynamic decision-making. For instance, create a wall-following robot:

WHILE true
    IF LEFT_DIST_SENSOR < 10
        // Too close to the wall on the left
        R 10 // Slightly turn right
    ELSEIF RIGHT_DIST_SENSOR < 10
        // Too close to the wall on the right
        L 10 // Slightly turn left
    ELSE
        F 1  // Otherwise, move forward
    ENDIF
ENDWHILE

Implementing Algorithms

RohLang can implement simple algorithms. For example, a basic search algorithm to find and approach a target:

FOUND = false
WHILE NOT FOUND
    IF CAMERA_DETECTS_TARGET
        F 1   // Move towards the target
        IF TARGET_WITHIN_REACH
            FOUND = true
            PICK_TARGET  // Custom command to pick the target
        ENDIF
    ELSE
        R 15  // Rotate to search for the target
    ENDIF
ENDWHILE

Debugging and Optimization

- Debugging: Regularly test your code and use debugging techniques, such as printing sensor readings to the console, to troubleshoot issues.
- Optimization: Refine your code for efficiency. For instance, avoid unnecessary repetitions and optimize sensor usage.

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 Expanding RohLang’s Capabilities

- Community Contributions: As an open-source language, RohLang encourages contributions. Share your custom functions and improvements with the community.
- Interfacing with Additional Modules: Explore interfacing RohLang with additional modules or sensors to expand its capabilities.

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Conclusion
This advanced guide offers a deeper insight into RohLang’s potential for complex programming tasks, enabling users to create sophisticated programs for their Rohbot Kit. Experimentation and continual learning are key to mastering these advanced concepts.