Programming in RobotC

1. Introduction to Programming in RobotC

2. Setting Menu Level Open Up the Advanced Options

3. Setting Platform Type

4. Connecting Bluetooth

5. Connecting Bluetooth

6. Connecting Bluetooth 1234

7. Connecting Bluetooth

8. Connecting Bluetooth

9. What is a Firmware Download? When to download the firmware? Needed: USB Connection to the laptop Battery Power Firmware Download

10. Downloading the Firmware Select the firmware file From this next screen

11. Name your NXT to your Team # Renaming your NXT

12. NXT and motor controller

13. Motors and Sensor Setup Robot ->Motors and Sensor Setup

14. Pragma Configurations

15. Sample Programs 1) RobotC: File -> Open Sample Program 2) Say Watt: http://github.com/SayWatt

16. Autonomous • The First Program (Move Forward) • Go Forward & Turn • Light Detection w/ Light Sensor • Ultrasound

17. First Program Let’s make the robot move! task main() { motor[leftMotor] = 100; motor[rightMotor] = 100; wait1Msec(2000); motor[leftMotor] = 0; motor[rightMotor] = 0; }

18. task main() { Tells RobotC: Start Here!

19. motor[leftMotor] = 100;motor[rightMotor] = 100; Make leftMotor and rightMotor go forward at full speed.

20. wait1Msec(2000); Wait 2000 milliseconds. (2 seconds)

21. motor[leftMotor] = 0;motor[rightMotor] = 0; Make leftMotor and rightMotor stop.

22. } Tells RobotC: We’re done.

23. Go Forward & Turn - Timer task main() { motor[leftMotor] = 100; motor[rightMotor] = 100; wait1Msec(2000); motor[leftMotor] = 75; motor[rightMotor] = -75; wait1Msec(1000); }

24. Up Next: Ultrasound

25. while(SensorValue(mysonar) > 20) { Checks this “Keep looping through this until the value of ‘mysonar’ is less than 20.”

26. Line Detection with Light Sensor

27. Line Detection with Light Sensor • // Go until see line • task main() • { • while(SensorValue[S4] < 45) • { • motor[leftMotor] = 50; • motor[rightMotor] = 50; • } • motor[leftMotor] = 0; • motor[rightMotor] = 0; • }

28. Wait For Start #include “JoystickDriver.c” in beginning of code

29. General Programming • Function • Passing Values

30. Functions

31. Basic Functions void startMotors() { motor[leftMotor] = 100; motor[rightMotor] = 100; } void stopMotors() { motor[leftMotor] = 0; motor[rightMotor] = 0; }

32. Passing Values void setMotors(int speed) { motor[leftMotor] = speed; motor[rightMotor] = speed; } Examples: or setMotors(100); setMotors(0);

33. Teleop

34. Analog Sticks joystick.joy1_y1; joystick.joy1_x1; joystick.joy1_y2; …..

35. Buttons Returns a bool. joy1Btn(1); joy1Btn(2); …

36. Basic Joystick Code #include "JoystickDriver.c" task main() { while(true) { getJoystickSettings(joystick); motor[leftMotor] = joystick.joy1_y1; motor[rightMotor] = joystick.joy1_y2; wait1Msec(20); } }

37. Running Joystick Programs

38. “Joystick Drift”

39. Fixing Drift intleftMotorValue = joystick.joy1_y1; intrightMotorValue = joystick.joy1_y2; if(abs(leftMotorValue) < 20) { leftMotorValue = 0; } if(abs(rightMotorValue) < 20) { rightMotorValue = 0; }

40. Wait For Start #include “JoystickDriver.c” in beginning of code

41. Wait For Start

42. Advanced Autonomous Built-in Encoder Home in on with IR Seeker Standard Servo Manipulation

43. Built-In Encoder nMotorEncoder[motorA] = 0; while (nMotorEncoder[motorA] < 720) /* wait til movement is complete */ { motor[motorA] = 100; motor[motorB] = 100; }

44. IR Sensor #pragmaconfig(Sensor, S2, IR, sensorHiTechnicIRSeeker1200) #include "drivers/HTIRS2-driver.h" task main() { while(true) { if(SensorValue[IR] == 5) { motor[leftMotor] = 0; //Stop when facing IR motor[rightMotor] = 0; } if(SensorValue[IR] > 5) { motor[leftMotor] = -100; motor[rightMotor] = 100; // turn right } if(SensorValue[IR] < 5) { motor[leftMotor] = 100; // turn left motor[rightMotor] = -100; } } }

45. Standard Servo Manipulation

46. Advanced Teleop Continuous Rotation Servo w/ Joystick

47. Continuous Rotation Servo

48. Other Resources • www.saywatt.org • www.robotc.net • www.hitechnic.com • www.chiefdelphi.com