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Introduction to RobotC

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An introduction to RobotC given by the Say Watt robotics team. The example files shown here are also posted online: http://github.com/SayWatt

An introduction to RobotC given by the Say Watt robotics team. The example files shown here are also posted online: http://github.com/SayWatt

Published in: Technology, Business

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  • 1. Programming in RobotC
    Introduction to
  • 2. Installing RobotC
    http://robotc.net/
    3.0 Mindstorms
    License ID: 60857910
    Password: S9WY95
  • 3. Setting Menu Level
    Open Up the Advanced Options
  • 4. Connecting Bluetooth
  • 5. Connecting Bluetooth
  • 6. Connecting Bluetooth
    1234
  • 7. Connecting Bluetooth
  • 8. Connecting Bluetooth
  • 9. Sample Programs
    RobotC: File -> Open Sample Program
    Say Watt: http://github.com/SayWatt
  • 10. First Program
    Let’s make the robot move!
    task main() {
    motor[leftMotor] = 100;
    motor[rightMotor] = 100;
    wait1Msec(2000);
    motor[leftMotor] = 0;
    motor[rightMotor] = 0;
    }
  • 11. task main() {
    Tells RobotC: Start Here!
  • 12. motor[leftMotor] = 100;motor[rightMotor] = 100;
    Make leftMotor and
    rightMotor go forward
    at full speed.
  • 13. wait1Msec(2000);
    Wait 2000 milliseconds.
    (2 seconds)
  • 14. motor[leftMotor] = 0;motor[rightMotor] = 0;
    Make leftMotor and
    rightMotor stop.
  • 15. }
    Tells RobotC: We’re done.
  • 16. Up Next: Touch Sensor
    task main() {
    motor[leftMotor] = 100;
    motor[rightMotor] = 100;
    while(SensorValue(touch) != 1) {
    wait1Msec(50);
    }
    motor[leftMotor] = 0;
    motor[rightMotor] = 0;
    }
  • 17. while(SensorValue(touch) != 1) {
    Checks this
    “Keep looping through this
    until the value of
    ‘touch’ equals 1.”
  • 18. What’s Next?
    Try to make these changes:
    Move backwards for 2 sec.
    after the button is pressed.
    Try turning around and going
    the other way.
  • 19. Light Sensor
    task main() {
    motor[leftMotor] = 100;
    motor[rightMotor] = 100;
    while(SensorValue(light) <= 45) {
    wait1Msec(50);
    }
    motor[leftMotor] = 0;
    motor[rightMotor] = 0;
    }
  • 20. Functions
  • 21. Basic Functions
    void startMotors() {
    motor[leftMotor] = 100;
    motor[rightMotor] = 100;
    }
    void stopMotors() {
    motor[leftMotor] = 0;
    motor[rightMotor] = 0;
    }
  • 22. Passing Values
    void setMotors(int speed) {
    motor[leftMotor] = speed;
    motor[rightMotor] = speed;
    }
    Examples:
    or
    setMotors(100);
    setMotors(0);
  • 23. Light Sensor Function
    True / False
    boolcheckLightSensor() {
    if(SensorValue(light) <= 45) {
    return true;
    }else {
    return false;
    }
    }
  • 24. Line Following
    Use the light sensor
    to follow a white
    line.
  • 25. Joysticks
  • 26. 3.00 Joystick Bug
    Open the JoystickDriver.c
    Change line 123 to:
    const intkMaxSizeOfMessage = 19;
  • 27. Analog Sticks
    joystick.joy1_y1;
    joystick.joy1_x1;
    joystick.joy1_y2;
    …..
  • 28. Buttons
    Returns a bool.
    joy1Btn(1);
    joy1Btn(2);

  • 29. Basic Joystick Code
    task main() {
    while(true) {
    getJoystickSettings(joystick);
    motor[leftMotor] = joystick.joy1_y1;
    motor[rightMotor] = joystick.joy1_y2;
    wait1Msec(20);
    }
    }
  • 30. “Joystick Drift”
  • 31. Fixing Drift
    intleftMotorValue = joystick.joy1_y1;
    intrightMotorValue = joystick.joy1_y2;
    if(abs(leftMotorValue) < 20) {
    leftMotorValue = 0;
    }
    if(abs(rightMotorValue) < 20) {
    rightMotorValue = 0;
    }
  • 32. Wait For Start
  • 33. Wait For Start