1 / 38

Vex Coaches' Training

Vex Coaches' Training. October 12, 2013. Agenda for Today. 9 – 10 AM : Tina Reeves and the Engineering Notebook 10 – Noon : Finish Building, Basic Robot C 12-12:30 : Lunch 12:30 – 2:30 Basic Programs, Functions, Robot C Video Trainer, Setting up Competition Template

tala
Download Presentation

Vex Coaches' Training

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Vex Coaches' Training October 12, 2013

  2. Agenda for Today • 9 – 10 AM : Tina Reeves and the Engineering Notebook • 10 – Noon : Finish Building, Basic Robot C • 12-12:30 : Lunch • 12:30 – 2:30 Basic Programs, Functions, Robot C Video Trainer, Setting up Competition Template • 2:30-3:00 Wrap up, Clean Up

  3. Engineering Notebook

  4. Continue Building • 4 motors wired as last step in build • 3 to 2 wire converters • Get charged battery • 9V back-up battery?

  5. Program Basics – Drive Motors • Motors to achieve “tank drive” • Left stick (ch3) drive left wheels • Right stick (ch2) drive right wheels • Other modes: Arcade – 1 stick drives and turns • Left drive motor connected to Port 1 • Port 1 is a dedicated 2 wire port • Right drive motor connected to Port 10 • Port 10 is a dedicated 2 wire port • For today, VEXnet joystick will control drive

  6. Program Basics – Arm and Claw motors • 1 motor dedicated to raise and lower arm • Port 7 will be used with a 3 to 2 wire converter • We will assign it to Ch2 on partner joystick • 1 motor used to open and close the claw • Port 6 will be used with a 3 to 2 converter • We will assign button 5U to open claw • We will assign button 5D to close claw

  7. Writing a Basic Program • All new files begin with task main() { } Code you want the robot to run goes between the braces

  8. Writing a Basic Program • After task main() • All code that needs to be continuously executed must be enclosed in a while () statement while (true) { }

  9. Sample Drive Program

  10. Sample Drive - Download • Once program is entered • Click Robot tab and select Compile • You will be asked to save file • Give it an easy to identify name • Use Wireless programming cable • Connect USB side to same port on computer • Connect phone jack to VEXnet joystick • Turn on Cortex and joystick and wait for them to sync

  11. Sample Drive - Download • Select Robot tab and click Compile and Download • Program will be sent to Cortex over wifi • When done, click on Start and disconnect phone jack • Drive! • May have to reverse negative sign.

  12. Other Programming Method… • New programming wireless kit exists • Provides constant power to joystick • You can use USB A – A cable • Connect cable to Cortex directly • Compile and Download • Reset Cortex afterwards and sync with joystick • Be careful with this method • Continuously removing/inserting VEX key will lead to undue wear and eventual VEXnet issues

  13. Complete 2 Joystick Program

  14. Notes on Motor Speed • In VEX, motor speed and direction controlled by a +/- number between -127 and +127 • Negative 127 is full on “reverse” • Positive 127 is full “forward” • Sometimes, we switch the sign • Zero is always “Stop” • Any value in-between can be assigned to a motor • Analog joystick Ch 1,2,3,4 return such a value

  15. A simple Autonomous Program • This program will take drive commands away and make the robot run entirely by a string of commands • See Sample Program 03 – Simple Auto

  16. Combine Programs to Make a Homemade Competition Template • Every VEX game has a an Autonomous and Driver modes • 15 seconds Auto • 1min 45 seconds of driver commands • Sample 04 – Homemade Competition will combine the two previous examples

  17. Homemade Competition Template • You can copy and paste simple autonomous in the 15 second section • You can copy and basic drive commands into the 1min 45 second section

  18. More Efficient Program… • Writing the same code over and over gets boring • Better to write it once and recycle • In Robot C, Functions are segments of code that can be called upon whenever needed • You can pass a variable to Functions • Functions can return values • For us today, we will just use simple variable accepting functions

  19. Program with Functions: Sample 05-Functions Program intfullSpeed = 127; //global variable for full speed inthalfSpeed = 64; //global variable for 1/2 speed intquarterSpeed = 32; //global variable for 1/4 speed void forward(intwaitTime) { motor[port1]=halfSpeed; //Turn on motors and go forward motor[port10]=-halfSpeed; //desired speed wait1Msec(waitTime); //for desired time }

  20. Program with Functions: Sample 05-Functions Program

  21. Better Motor Definitions • Using Port # is cumbersome • Any changes in port assignment means changes through whole program • Port # doesn’t tell you anything about the function of the motor when reviewing code • Better to use a labeling system to set motors and sensors • Under Robot Tab • Motor and Sensor Setup

  22. Motor and Sensor Set Up

  23. Motor and Sensor Set Up

  24. Motor and Sensor Set Up • We label left motor on port 1 – leftDrive • Set it as a 393 regular motor • We label right motor on port 10 – rightDrive • Set it as a 393 regular motor • Note we selected to reverse it • Program will now handle inverted motors • Claw on port 6 – clawMotor • Arm on port7 - armMotor

  25. Motor and Sensor Set Up • Program adds the following header • Don’t modify directly • Any edits should be done in the window • This will make changing port numbers later on much easier

  26. Sample 06 – Sample Program

  27. Competition Template • Once all code has been debugged and tested to satisfaction, time to copy and paste it to competition template file • Competition Template is a sample program found under File->Open Sample Program • Select VEX2 ->Templates • Open VEX_Competition_Template • You can Copy and Paste your variables, functions, autonomous commands, and driver controls • You need to retype Motor and Sensor set up

  28. Competition Program

  29. Competition Program

  30. Competition Program

  31. Competition Program

  32. Competition Program

  33. Robot C Curriculum Trainer • Step by Step Instruction Series of videos and documents that teach how to use Robot C

  34. VEX Cortex Video Trainer

  35. Virtual Worlds • You can start practicing your programming skills • Lets you virtually control a preset robot with defined motors and sensors • Can play Toss Up • You must change Compile Target to Virtual World under Robot Tab

  36. Virtual Worlds

  37. Virtual Worlds • When ready to test, compile and download code • Virtual World will launch • Can click start and test • Login as Guest • Can also drive robot around to practice • Must select Robot Skills mode • AWSD steers, <> raises arm, ; ‘ open close claw

  38. Virtual Worlds

More Related