This document provides an introduction to programming in RobotC and includes instructions on installing RobotC, connecting Bluetooth, sample programs, functions, light sensors, line following, joysticks, and fixing joystick drift. It discusses getting started with RobotC by making a robot move forward for 2 seconds then stop. It also covers using functions, passing values to functions, checking light sensor values in a function, and basic joystick code to drive motors with joystick input.

1. Programming in RobotCIntroduction to

2. Installing RobotChttp://robotc.net/3.0 MindstormsLicense ID: 60857910Password: S9WY95

3. Setting Menu LevelOpen Up the Advanced Options

4. Connecting Bluetooth

5. Connecting Bluetooth

6. Connecting Bluetooth1234

7. Connecting Bluetooth

8. Connecting Bluetooth

9. Sample ProgramsRobotC: File -> Open Sample ProgramSay Watt: http://github.com/SayWatt

10. First ProgramLet’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 andrightMotor go forwardat full speed.

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

14. motor[leftMotor] = 0;motor[rightMotor] = 0;Make leftMotor andrightMotor stop.

15. }Tells RobotC: We’re done.

16. Up Next: Touch Sensortask 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 thisuntil 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 Sensortask main() { motor[leftMotor] = 100; motor[rightMotor] = 100; while(SensorValue(light) <= 45) { wait1Msec(50); } motor[leftMotor] = 0; motor[rightMotor] = 0;}

20. Functions

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

22. Passing Valuesvoid setMotors(int speed) { motor[leftMotor] = speed; motor[rightMotor] = speed;}Examples:orsetMotors(100);setMotors(0);

23. Light Sensor FunctionTrue / FalseboolcheckLightSensor() { if(SensorValue(light) <= 45) { return true; }else { return false; }}

24. Line FollowingUse the light sensorto follow a whiteline.

25. Joysticks

26. 3.00 Joystick BugOpen the JoystickDriver.cChange line 123 to:const intkMaxSizeOfMessage = 19;

27. Analog Sticksjoystick.joy1_y1;joystick.joy1_x1;joystick.joy1_y2;…..

28. ButtonsReturns a bool.joy1Btn(1);joy1Btn(2);…

29. Basic Joystick Codetask main() { while(true) {getJoystickSettings(joystick); motor[leftMotor] = joystick.joy1_y1; motor[rightMotor] = joystick.joy1_y2; wait1Msec(20); }}

30. “Joystick Drift”

31. Fixing DriftintleftMotorValue = 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