chung for robofest 05 1 introduction to robolab cj chung lawrence technological university
TRANSCRIPT
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Introduction to RoboLab
CJ ChungLawrence Technological
University
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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
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Pros to Using RoboLab
• Easy to see control structure• Visual interface is simple• Exactly like LabVIEW• Data gathering and visualization
(investigator)
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Cons to Using RoboLab
• Spaghetti code• Hard to wire icons…
• No edge triggering supported. See Line Counter program in this slide
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For More Information
• Lego’s Pagewww.lego.com/dacta/robolab
• National Instruments Pagewww.ni.com/robolab
• Tufts Universitywww.ceeo.tufts.edu/graphics/robolab
• www.lego.com/education/mindstorms/images/eng/downloads/compare.doc
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Before Getting Started Programming
RCX Firmware Download: Administrator
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“Investigator” for data gathering and visualization
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Getting Started
Programmer | double click “Inventor Level 4”
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RoboLab Class Mission 1: To drive using a Timer• “Go straight for 2.5 seconds and
stop”
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Save the file!
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Just clickBroken arrow
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Modifiers
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Context Help• Just point an icon in question
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To replace an icon• Use right click and replace (for
Macs, use the Apple key)
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Windows| Show Tools Palette• The space bar • The tab key
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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”
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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
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What is wrong?
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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
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Darker than 40
Brighter than 50
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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
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Tips: Making Right Turns
stop
Method 1:
Left motor Right motor
Method 2:
Left motor Right motor
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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
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RoboLab Control Structures
• Sequence• Loop: • Decision: Fork
• Subroutines:• Multitasking:
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Loop with a counter
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Loop while touch sensor is released
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Mission 5: Detect Light and Beep• When the light sensor detects a
bright light source, beep• Repeat until a touch sensor is
pressed
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A loop inside a loop?
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Decision - Fork
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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?
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36How to follow a line using one Light Sensor? - Zigzag methods
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Subroutine – a set of commands• Create Subroutine No. n:
• Run subroutine n:
n
n
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Subroutine Example
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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
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RCX Communications - Send
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RCX Communications - Receive
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Containers to store values
• Loop while container value is less than…
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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
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45Line Counter Solution Using RoverBot Style Gearing
Wait for Dark
If no time to skip black line, a line can be counted more than once.
Wait for Dark
Cf. RCX code, Wait Until, provides “Edge Triggering”
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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.
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47Mission 9: Line following until stacked touch sensor is pressed
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Multitasking
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How to upload to different program slots• Select the slot number by pressing
the gray Pgm button on the RCX• Click the (run) button