3. Platform Type
Select Innovation First, then
Natural Language
Allows you to toggle ROBOTC’s programming mode
between the Natural Language (VEX Cortex), VEX Cortex,
and the VEX PIC; enables features and commands
specifically for the selected system
4. VEX Cortex Download Method
Allows you to specify:
1. How programs are downloaded
2. Whether the Cortex looks for a
VEXnet connection when it
starts up
5. Sample Programs
•To generate the Natural Language Function
Library, go to File, Open Sample Programs,
PLTW, PLTWtemplate
6. Function Library
The Function Library will be
populated by all of the Natural
Language commands. These
can be drag-and-dropped into
your program.
Place you cursor over the
commands for more details
about each one.
7. ROBOT Motion
• Commands that
cause the entire
robot to perform a
behavior
8. Setup
• Allows you to
specify what type of
robot configuration
you have from pre-
specified models
(RECBOT,
Swervebot)
9. Movement
• Commands that
allow you to control
individual motors /
servos
10. Special
• Commands that
control the more
unique VEX
Hardware – LED’s
and Flashlights
11. Until
• Commands that
allow you to create
behaviors where
the robot acts “until”
a certain event. For
example,
– Button Press
– Potentiometer Value
12. Wait
• Commands that
wait for an elapsed
amount of time in
seconds or
milliseconds
14. Help Documentation
Additional detail about the Natural Language
commands can be found in the ROBOTC Help
under “Natural Language Functions”
15. Motors and Sensors Setup Menu
Allows you to configure and name all of the motors
and sensors connected to your Cortex.
16. Motors and Sensors Setup Menu
The information in ROBOTC Motors and Sensors Setup
should match the schematic on your project lab sheets.
17. Comments
• Comments are used to make notes for the
human programmers
• // Single line comment – everything after “//” is
ignored by the ROBOTC compiler
18. Comments
• /* Multi-line comment*/ - everything between the
“/*” and “*/” symbols is ignored by the ROBOTC
compiler
20. ROBOTC Practice Program
• Open a Sample Program
Go to File > Open Sample Program >
PLTW>PLTWtemplate
21. ROBOTC Practice Program
1. Rename file and save to student directory
2. Complete heading information
3. Describe task
22. Pseudocode
• Pseudocode is a shorthand notation for
programming which uses
– informal programming structures (if touch1 is pressed…)
– verbal descriptions of code (move forward, stop)
• Emphasis is placed on expressing the behavior
or outcome of each portion of code rather than
on correct syntax (it should be reasonable,
though).
• Your lines of Pseudocode should also be listed
in the same order as they will appear in the
ROBOTC Program
23. ROBOTC Practice Program
• Write pseudocode
turn the motor on for 3
seconds at full power,
then off for 10 seconds.
Then back on for 3
seconds at ½ speed, off
for 2 seconds and
reverse at ½ power for 3
seconds.
24. ROBOTC Practice Program
• Complete Motors and
Sensors Setup
• Notice the #pragma
statements that are
automatically generated
25. ROBOTC Practice Program
• Convert pseudocode to program code using the
Natural Language Function Library to drag and drop
commands.
Defines the “main task” of the robot.
Every program must contain a task
main
All
commands
belonging to
task main
must be in-
between
these curly
braces
26. ROBOTC Practice Program
1. Save Program
2.Connect the Cortex to the Computer (via
USB)
3.Turn on the Cortex
4.Go to Robot > Compile and Download
Program (f5)
5.Run the program – Observe the motor turn
on and off and reverse.
27. ROBOTC Practice Program
Edit the
program to
start when a
pushbutton
switch is
pressed and
stop when a
limit switch is
pressed.
28. ROBOTC Practice Program
You may notice warnings or
errors.
•Make sure you spell motor and sensor names
exactly as defined in Motors and Sensors
setup.
•A ; is needed at the end of each line of code.
•Don’t forget every open parenthesis needs a
closing parenthesis.
•What is wrong with line 31?
29. ROBOTC Debugger
• The ROBOTC Debugger allows you to
view and manipulate all of the values of
your motors, sensors, timers, and
variables.
• Now that we’ve configured the motors
and sensors, let’s view their values using
the ROBOTC Debugger.
30. ROBOTC Debugger
• Make sure your robot is connected to your computer and
turned on, and download the program.
• When the Program Debug Window appears, press the
Start button and make sure the Refresh Rate is set to
Continuous.
31. ROBOTC Debugger
• Open the Sensor Debug window by going
to Robot > Debug Windows > Sensors
32. Sensor Debug Window
• The Sensor Debug window will appear, and display all of
the values of the configured sensors.
0 = released, 1 = pressed
0 = on, 1 = off
33. ROBOTC Practice Program
• Modify your program so that
an LED comes on when the
motor is on, and goes off
when the motor is off.
• Where in the function library
are the LED commands?
• What do you type into the
(digitalPort)?
• Compile and Download the
program.
• Test
34. Resources
• ROBOTC.net: http://www.robotc.net/
– The ROBOTC Forum:
http://www.robotc.net/forums/
• VEX Cortex Video Trainer
– http://www.education.rec.ri.cmu.edu/products/t
eaching_robotc_cortex/index.html
• The FIRE Project:
– http://www.education.rec.ri.cmu.edu/fire/compe
titions/best/
• Robotics Academy
– http://www.education.rec.ri.cmu.edu/content/ve
x/index.htm
35. References
Carnegie Mellon Robotics Academy (2011). VEX Cortex
Video Trainer. Retrieved from
http://www.education.rec.ri.cmu.edu/products/teaching_r
obotc_cortex/index.html
Notes de l'éditeur
We will use Natural Language for this class.
“ Download Using VEXnet or USB” is always the safe choice, but the Cortex will look for a VEXnet connection for up to10 seconds before running code. Unless you upgrade your GTT kit you will always use the Download using USB only.
Students must get used to using the PLTW template for all of their programs.
We won’t use this in GTT class.
Will not use in GTT curriculum.
GTT kits do not include Servo motors – so make sure students do not use that option.
Flashlights not in GTT kits.
See additional slides in Connecting VEX to ROBOTC.ppt if necessary. Presentation Name Course Name Unit # – Lesson #.# – Lesson Name
Single line and multi-line comments give important information to the programmer and others who read the program and need to understand the logic. The program, ROBOTC, totally ignores the comments as long as the symbols are present.
Teacher should create a VEX test bed for demonstration purposes. Student teams may also have a VEX test bed to work with. Presentation Name Course Name Unit # – Lesson #.# – Lesson Name
Teacher Notes: This slide is meant to be a class activity, for students to actually get some guided experience with the ROBOTC interface, ROBOTC Commands, Cortex system, etc. The steps should be: Open ROBOTC Verify the Platform Type is set to Natural Language and the Download using USB option is on Open the Sample Program, PLTW Folder, PLTWtemplate Demonstrate, then have students connect a motor to the Cortex (you may want to add an axle, gear and standoff to help see what’s happening) Remind students if they have a 2 wire motor they can connect to Ports 1 and 10 only.
Explain the different pieces of the template. Students need to get in the habit of completing the template in this order: Save As and Rename to their own directory immediately with the name of the project. If necessary save to each individual students directory within the group in case the primary computer engineer is absent from class. Complete heading information – Teachers may alter this to meet their specifications. Students should describe the task in their own words. Presentation Name Course Name Unit # – Lesson #.# – Lesson Name
Additional Details: Pseudocode is used to outline a program before translating it into proper syntax. Helps in the initial planning of a program, by creating the logical framework and sequence of the code. An additional benefit is that it can be translated into different programming languages and is therefore somewhat universal Introduction to ROBOTC GTT - AR Unit 2 – Lesson 2.3 – Automated Systems
For this demonstration: RightMotor – port2 LimitSwitch – dgtl1 BumpSwitch – dgtl2 LED – dgtl12 Presentation Name Course Name Unit # – Lesson #.# – Lesson Name
Connect the Cortex to the Computer (via USB) Turn on the Cortex Go to Robot > Compile and Download Program Run the program – Observe the motor turn on and off and reverse. Presentation Name Course Name Unit # – Lesson #.# – Lesson Name
Edit the program to start when a pushbutton switch is pressed and stop when a limit switch is pressed. Compile and Download the Program Run the Program – observe the motor starting and stopping based on pressing the switches. Introduction to ROBOTC GTT - AR Unit 2 – Lesson 2.3 – Automated Systems
Encourage students to read the error descriptions for suggestions on how to fix their program. Once errors are fixed. Compile, download and run the program again. Line 31 – closing parenthesis is in wrong place – goes after the -63) Presentation Name Course Name Unit # – Lesson #.# – Lesson Name
Have students try to solve this without showing the sample solution first. Presentation Name Course Name Unit # – Lesson #.# – Lesson Name
Trainer Notes: It’s recommended that you visit the different pages and show trainees the materials that are there.
