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Robofest 2005 RCX code Workshop Jan 29, 2005 CJ Chung

Robofest 2005 RCX code Workshop Jan 29, 2005 CJ Chung. Agenda. Comparison of RCX code and RoboLab programming languages (Chung, 15 min) RIS RCX code programming tutorial (Shvartsman, 70 min) Break – 10 min RIS RCX code programming tutorial 2 (Shvartsman, 70 min) RCX code tips (Chung, 15 min).

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Robofest 2005 RCX code Workshop Jan 29, 2005 CJ Chung

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  1. Robofest 2005RCX code WorkshopJan 29, 2005CJ Chung chung

  2. Agenda • Comparison of RCX code and RoboLab programming languages (Chung, 15 min) • RIS RCX code programming tutorial (Shvartsman, 70 min) • Break – 10 min • RIS RCX code programming tutorial 2 (Shvartsman, 70 min) • RCX code tips (Chung, 15 min) chung

  3. Assistants • Warren Beard • Steven Kryskalla chung

  4. Why Icon based Visual Programming Languages? chung

  5. Right Lane Ends chung

  6. chung

  7. Go forward for 2 sec. and stop program test { #include <RCX2.h> #include <RCX2MLT.h> #include <RCX2Sounds.h> #include <RCX2Def.h> main { ext InterfaceType "kFreestyle" rcx_ClearTimers bbs_GlobalReset([A B C]) try { on [ A C ] } retry on fail wait 200 try { off [ A C ] } retry on fail } } chung

  8. Go forward for 2 sec. and stop chung

  9. RCX code vs RoboLab Comparison Table chung

  10. chung

  11. Robofest Statistics: Programming Language Used by Teams in Robofest 2004 Data from 85 teams chung

  12. RoboLab vs. RCX code Follow a line and stop when the bumper is hit. chung

  13. RCX code hands-on workshop by Andrey Shvartsman (See another slide: intro2RCX.ppt) chung

  14. Robotic Invention SystemRCX code 2.0Block Types Use them chung

  15. Avoid using them. They are for a specific robot. They won’t work on your robot. Avoid using Sensors unless you have independent tasks chung

  16. Power Commands • On • On For • Off • Coast • Brake • Set Power: Min 1, Max 8 • Set Direction • Reverse Direction: Not recommended to use. Use Set Direction instead. chung

  17. Can you simplify this program? chung

  18. Wait Commands • Wait For • Wait Until chung

  19. Remember! • Cover your robot and IR tower when you download programs • Save your programs • File Names should be meaningful • Use logbook and comment chung

  20. Repeat • Repeat For • Repeat Forever • Repeat While • Repeat Until: sensor watcher chung

  21. Difference between Repeat Until and Repeat While • Repeat Until command constantly monitors the sensor or variable and interrupts the repeated set of commands as soon as the condition is true. • Repeat While: repeat a stack of commands as long as a condition is true; command only tests the sensor or variable at the end of each repeat. chung

  22. Structured Programming in RCX code • Use My Blocks • No parameters • Macros, not subroutines chung

  23. My Blocks chung

  24. Opening a saved program • Never use File | Open! There is a bug involving MyCommands • Use Main Menu | Program | Vault chung

  25. Line following - Zigzag methods chung

  26. chung

  27. Zigzag without Sensor Watchers chung

  28. What will happen if the robot starts here… here chung

  29. Line following with 2 light sensors chung

  30. Line following with 2 light sensors II chung

  31. Line following with 2 light sensors III chung

  32. End Program • Without “End Program”, you need to press Green button to stop the program chung

  33. Comments • Comment Block • Log book chung

  34. Useful Techniques • End Program • LCD View • Display Value • Timers • Variables • Sensors • IR Messages • Beeps and Tones to debug by hearing chung

  35. Move forward until the robot reaches a black line (area) orhit a wall (detected by a touch sensor) Question: chung

  36. Solution using sensor watchers chung

  37. Move forward until the robot reaches a black line (area) orhit a wall (detected by a touch sensor) Solution without using Sensor watchers chung

  38. Move forward until the robot reaches a black line (area) orhit a wall (detected by a touch sensor) Solution without using Sensor watchers with using a variable ? chung

  39. RIS 2.0 XP Patch will stop the Robotics Invention System 2.0 launcher window from appearing when Windows XP is started. Now available for download at www.legomindstorms.com chung

  40. Epilog • Read Robofest 2005 Rules • Control vs. Speed • Exhibition • FAQ • LTU is planning Robofest Playing Field Sale: Please contact chung@ltu.edu chung

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