Activity 3.1.1 VEX Robotics Platform and ROBOTC Software

Activity 3.1.1 VEX Robotics Platform and ROBOTC Software

Introduction to the VEX Robotics Platform and ROBOTC Software Principles of Engineering 2012 Project Lead The Way, Inc. VEX Robotics Platform: Testbed for Learning Programming VEX Structure Subsystem

VEX Structure Subsystem forms a robot base Contains square holes on a standardized in. grid Allows VEX components to be assembled in various configurations VEX Structure Subsystem Metal components directly attached using 8-32 screws and nuts Nylock nut has a plastic insert to prevent unscrewing KEPS nut has a ring of teeth on one side to grip the

piece being installed Regular nut has no locking feature Nylock Nut 8-32 screws KEPS Nut Regular

Nut VEX Motion Subsystem Components which make a robot move Gear Wheel Motor Servo Motor

Gears Servo Wheels VEX Motion Subsystem Motors 2-wire motor 269 and 2-wire motor 393 Two methods to connect to Cortex Motor ports 1 and 10 Motor port 2-9 using Motor Controller 29

2-Wire 269 2-Wire 393 Controller 29 VEX Motion Subsystem Servos Similar appearance to a motor Operation is significantly different Motor spins continuously at a power value

Servo rotates to a position between 0o to 120o degrees VEX Sensors Subsystem Provide inputs to sense the environment Digital Sensors: Analog Sensors: Bumper Switch

Light Sensor Limit Switch Potentiometer Optical Shaft Line Follower Encoder

Ultrasonic Range Finder Potentiometers How It Works Analog sensor Measures rotation of a shaft between 0 and ~265 degrees Cortex returns values between 0 and ~4095 Caution

Internal mechanical stops prevent potentiometer from turning a full revolution Excess torque against the internal mechanical stops will cause them to wear away Optical Shaft Encoders How It Works Digital counting sensor Inner shaft spins as the encoder measures angle of revolution

Capabilities and Resolution 360 counts per revolution Counts up and down The distance which a robot moves can be controlled by monitoring the angle at which the wheels attached to the shaft encoder spin Ultrasonic How It Works Similar to how bats and submarines sense distance

Digital sensor returns distance values between 0 and 255 inches or the equivalent centimeters or millimeters Returns values of -1 or -2 if used outside of this range or if a return signal is not sensed Ultrasonic Range Finder Ultrasonic Range Finder detects objects in a cone field of view Sensor detects object distance from the center of the sensor

Sensor distance calculations based on sound waves Objects that may not be detectable include soft objects that absorb sound, sharp objects that deflect sound, etc. VEX Cortex Microcontroller VEX Cortex (VEX 2.0) 12 Digital Ports Bumper Switch

Optical Shaft Encoder Limit Switch Ultrasonic Range Finder Digital Ports

VEX Cortex Microcontroller VEX Cortex (VEX 2.0) 12 Digital Ports 8 Analog Inputs Light Sensor Potentiometer Line Follower

Analog Ports VEX Cortex Microcontroller VEX Cortex (VEX 2.0) 12 Digital Ports

8 Analog Inputs VEXnet Connection 10 Motor Ports VEXnet Wireless Key Motor Ports Ports 1 and 10 are 2-wire DC ports Ports 2 through 9 are 3-wire pulse width

modulated (PWM) ports 2 Wire 269 2 Wire 393 Controller 29 Return to Activity ROBOTC Software

ROBOTC developed specifically for classrooms and competitions Complete programming solution for VEX Cortex and several other popular robot platforms Real-time debugger Similar to industry-standard C Programming Industry Standard Coding ROBOTC programming is a key component of

industry-standard programming languages Industry-Standard Skillsets Java and C++, along with the Eclipse and Visual Studio IDEs, have been used to program: Microsoft Windows OS Mac OSX

US Navy UAV Drones Flight Simulators DVD Player Firmware Video Games Microwaves

CAT Scanners Smart Cars Satellites Cell Phones Electronic Toys ROBOTC ROBOTC Start Page Open ROBOTC for VEX Robotics

Display of the latest ROBOTC news, version of ROBOTC, and ROBOTC Resources VEX Cortex and Natural Language Change the Platform Type to VEX 2.0 Cortex Change the Platform Type to Natural Language PLTW Sample Programs Over 75 ROBOTC Sample programs, organized by robot behavior

Comments Comments are used to make notes in code for the human programmers Every sample program contains comments pertaining to robot configuration, ROBOTC commands, robot behavior, etc. // Single line comment All material after // is ignored by the ROBOTC compiler /* Multi-line comment*/ All material between the /* and */ symbol is ignored

by the ROBOTC compiler ROBOTC Help In-depth explanations about ROBOTC installation, commands, debugger, etc. Text Function Library Available functions are listed with a description List of available functions will expand or shrink depending on the menu level

Menu Level Customizes the ROBOTC interface and Text Function Library based on users experience level Select File and then New or select the New File icon to begin creating a program Motors and Sensor Setup Open Motor and Sensors Setup and update

to match the physical configuration OR VEX Cortex Download Method Allows you to specify: How programs are downloaded Whether the Cortex looks for VEXnet connection when it starts up The VEXnet or USB option will result in the Cortex looking for a VEXnet connection for up

to10 seconds before running code ROBOTC Color Coding ROBOTC is color coded to distinguish elements of the program as shown References Carnegie Mellon Robotics Academy. (2017). ROBOTC. Retrieved from http://www.robotc.net VEX Robotics. (2017). ROBOTC. Retrieved from http://www.vexrobotics.com

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