A state diagram creation and code generation tool for robot programming

摘要

This paper discusses a new tool for the design and code generation of reactive programs for robots based on the state diagram design methodology. The tool's simple graphical interface enables interactive diagram creation followed by code generation and testing; furthermore these steps can be cycled to incrementally modify the graphical design and generated code until the desired robot behavior is achieved. We have observed that using robots provides a strong motivation for learning programming skills; however, the rapidly growing complexity of code for reactive behavior programming can result in the student losing track of the original problem and the correct design that could lead to its solution. Our tool addresses this challenge by constraining the design within a an intuitive graphical framework; the design, once it has been created, provides a frame of reference which can lead to more productive ways of design and code modification.