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Introduction to RoboLab

Introduction to RoboLab

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Introduction to RoboLab

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  1. Introduction to RoboLab CJ Chung Lawrence Technological University Chung for Robofest 05

  2. What Is RoboLab? • A ‘Graphical’ programming language For the RCX based on LabVIEW • In 1997, LabView was used for Sojourner project • By designing a flow chart with given icons the programmer can program the RCX Chung for Robofest 05

  3. Pros to Using RoboLab • Easy to see control structure • Visual interface is simple • Exactly like LabVIEW • Data gathering and visualization (investigator) Chung for Robofest 05

  4. Cons to Using RoboLab • Spaghetti code • Hard to wire icons… • No edge triggering supported. See Line Counter program in this slide Chung for Robofest 05

  5. For More Information • Lego’s Page www.lego.com/dacta/robolab • National Instruments Page www.ni.com/robolab • Tufts University www.ceeo.tufts.edu/graphics/robolab • www.lego.com/education/mindstorms/images/eng/downloads/compare.doc Chung for Robofest 05

  6. Before Getting Started Programming RCX Firmware Download: Administrator Chung for Robofest 05

  7. “Investigator” for data gathering and visualization Chung for Robofest 05

  8. Getting Started Programmer | double click “Inventor Level 4” Chung for Robofest 05

  9. RoboLab Class Mission 1:To drive using a Timer • “Go straight for 2.5 seconds and stop” Chung for Robofest 05

  10. Chung for Robofest 05

  11. Save the file! Chung for Robofest 05

  12. Chung for Robofest 05

  13. Just click Broken arrow Chung for Robofest 05

  14. Modifiers Chung for Robofest 05

  15. Context Help • Just point an icon in question Chung for Robofest 05

  16. To replace an icon • Use right click and replace (for Macs, use the Apple key) Chung for Robofest 05

  17. Windows| Show Tools Palette • The space bar • The tab key Chung for Robofest 05

  18. Tips • How to insert icons? • How delete icons? • Cover the tower and RCX when downloading, if more than one robot in a room! • Use Meaningful file names • Add Comments using “A: edit text” Chung for Robofest 05

  19. RoboLab Mission 2: Bumper Car • Goes straight and stops when the bumper is hit or • Turn motors A and B; turn off motors A and B, when a touch sensor is pressed Chung for Robofest 05

  20. Chung for Robofest 05

  21. What is wrong? Chung for Robofest 05

  22. RoboLab Mission 3: Board Edge Detection • Robot must stop when it detects the edge of the white board • Testing Light Sensors • Use Black ‘View’ Button to read data from the light sensor Chung for Robofest 05

  23. Darker than 40 Brighter than 50 Chung for Robofest 05

  24. RoboLab Mission 4: Making Turns • Go straight for 2.5 seconds and turn right 90 degrees and go straight for 2 seconds and stop • Is it easy to make 90 degree turns? • Mark the stop location and rerun • Does it stop at the same point? • Why not? • How do we make our robots go straight? • Very important for many missions Chung for Robofest 05

  25. Method 1: stop Left motor Right motor Tips: Making Right Turns Method 2: Left motor Right motor Chung for Robofest 05

  26. Chung for Robofest 05

  27. Using a Rotation Sensor in RoboLab • Finding a good pair of motors using RoboLab • Use Black View Button to read data from the rotation sensor Chung for Robofest 05

  28. Chung for Robofest 05

  29. RoboLab Control Structures • Sequence • Loop: • Decision: Fork • Subroutines: • Multitasking: Chung for Robofest 05

  30. Loop with a counter Chung for Robofest 05

  31. Loop while touch sensor is released Chung for Robofest 05

  32. Mission 5: Detect Light and Beep • When the light sensor detects a bright light source, beep • Repeat until a touch sensor is pressed Chung for Robofest 05

  33. A loop inside a loop? Chung for Robofest 05

  34. Decision - Fork Chung for Robofest 05

  35. Mission 6: Line Following (Zigzag method) Do forever until touch sensor is pressed: • If it sees black, turn right • If it sees white, turn left Which side of the line does this follow? Chung for Robofest 05

  36. How to follow a line using one Light Sensor? - Zigzag methods Chung for Robofest 05

  37. Chung for Robofest 05

  38. n n Subroutine – a set of commands • Create Subroutine No. n: • Run subroutine n: Chung for Robofest 05

  39. Subroutine Example Chung for Robofest 05

  40. Mission 7: Line Following Until the edge of the board • Do forever until light sensor detects the edge of the board: • If it sees black, turn right • If it sees white, turn left Chung for Robofest 05

  41. RCX Communications - Send Chung for Robofest 05

  42. RCX Communications - Receive Chung for Robofest 05

  43. Containers to store values • Loop while container value is less than… Chung for Robofest 05

  44. Mission 8: Line Counter • Go forward • Count each line as the robot crosses it • When the robot detects the 4th line, stop. • Uses a Container to count number of lines Chung for Robofest 05

  45. Wait for Dark Wait for Dark Line Counter Solution Using RoverBot Style Gearing If no time to skip black line, a line can be counted more than once. Cf. RCX code, Wait Until, provides “Edge Triggering” Chung for Robofest 05

  46. Sensor Stacking • Stack touch sensor on top of light sensor • Both Sensors must be thought of as light sensors. • Pressing the touch sensor will always read 100. • When the touch sensor is not pressed the value for the light sensor will be read. Chung for Robofest 05

  47. Mission 9: Line following until stacked touch sensor is pressed Chung for Robofest 05

  48. Multitasking Chung for Robofest 05

  49. How to upload to different program slots • Select the slot number by pressing the gray Pgm button on the RCX • Click the (run) button Chung for Robofest 05