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VEX Robotics Design System

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VEX Robotics Design System Powered By Docstoc
					             VEX Robotics
             Design System




  EasyC
Drive Code
                      J.M. Gabrielse
                 Outline

• The Programming Kit

• Understanding the Controller

• Your 1st EasyC Program

• Common Problems

                                 J.M. Gabrielse
             The Programming Kit

• EasyC v2
    • for VEX robots only                                  EasyC CD
    • EasyC Pro is for VEX & 2004-2009 FRC
• USB to serial port adapter
                                                                          USB
    • really SLOW!                                                    to serial
                                                                      adapter
    • use a serial cable if your computer has a
      serial port
• dongle & telephone cables
    • for connecting the robot to a computer
                                                  dongle     telephone cable
                                                                J.M. Gabrielse
                  VEX Controller
                   (Transmitter)
• 6 channels
    1. x-axis of right joystick
       (0-255)
    2. y-axis of right joystick
       (0-255)
    3. y-axis of left joystick
       (0-255)
    4. x-axis of left joystick
       (0-255)
    5. right back button
       (0, 127, 255)
    6. left back button
       (0, 127, 255)
• multiple frequencies
  (replaceable crystals)
                                   J.M. Gabrielse
Sample Program in EasyC Pro
                         J.M. Gabrielse
Select the VEX Controller
                            J.M. Gabrielse
Select the VEX Controller
                            J.M. Gabrielse
Select the VEX Controller
                            J.M. Gabrielse
Start a New Project
                      J.M. Gabrielse
Select the Controller Configuration
                              J.M. Gabrielse
Type in descriptions of what you’re going to
           plug into each port.
                                         J.M. Gabrielse
Type in descriptions of what you’re going to
           plug into each port.
                                         J.M. Gabrielse
Expand Program Flow
                      J.M. Gabrielse
Drag a WHILE loop onto the flow chart.
                                   J.M. Gabrielse
Drag a WHILE loop onto the flow chart.
                                   J.M. Gabrielse
Enter 1 (for true) to make an endless loop.
                                      J.M. Gabrielse
      Note:
      Arcade = 1 joystick drive
      Tank = 2 joystick drive
      The number of motors
      should match your robot.



Select an RC Control block.
                                  J.M. Gabrielse
Drag your RC Control block into the while (1) loop.

                                            J.M. Gabrielse
Select the numbered slot you plugged your left motor into.
   The labels from the Controller Configuration automatically appear.
                                                                 J.M. Gabrielse
Select the numbered slot you plugged your right motor into.
    The labels from the Controller Configuration automatically appear.
                                                                  J.M. Gabrielse
For Arcade change the Forward/Reverse Channel to 2
            (the y-axis of the right joystick)
                                            J.M. Gabrielse
For Arcade change the Rotate Channel to 1
       (the x-axis of the right joystick)
                                        J.M. Gabrielse
   Congratulations!




You are done writing your program.

                                     J.M. Gabrielse
Build & Download your program.

                                 J.M. Gabrielse
Build & Download your program.

                                 J.M. Gabrielse
Your program is finished downloading when
   the bar goes down (erases old code)
  and goes back again (loads new code).




                                     J.M. Gabrielse
Save your program even if it didn’t work.

                                       J.M. Gabrielse
 “My code won’t download!”
          (Is your robot on?)
                                                       The
                                                     POWER
                                                      switch
                                                    should be
                                                       ON.




The BATT POWER light should be green.
      Make sure to turn your transmitter on too.   J.M. Gabrielse
          “My code won’t download!”
             (Did you use a fresh battery?)
                                                             charging station
robot           controller
battery         battery




                                           mounting straps




          What color is the BATT POWER light on the controller?
          • green: okay battery
          • red: dead battery
                                                                 J.M. Gabrielse
             “My code won’t download!”
         (Is the programming cord hooked up?)



                                                                  USB
                                                              to serial
 telephone cable                                              adapter


                                                             computer
                        dongle


• The telephone cord should be plugged into the port labeled SERIAL
  on the robot controller.
• The other end of the telephone plug should be plugged into the
  dongle.
• The other end of the dongle should be attached to the computer
  (either by the USB to serial adapter or a serial cable). J.M. Gabrielse
              “My code won’t download!”
                  (Is the correct port selected?)




                                                               Step 2:
 Step 1:
                                                               • Pick a COM Port
 • Go to the Build & Download
   menu                                                        • Try to download your
                                                                 code again
 • Select Loader Setup


Step 3:
• Keep trying all the available ports until you find one that allows you to download
                                                                              J.M. Gabrielse
   “My robot doesn’t drive right!”
      (How did you plug the motors up?)




Everything should be plugged in according to the
            Controller Configuration
                                          J.M. Gabrielse
      “My robot doesn’t drive right!”
       (Did you use servos instead of motors?)




• check the label

• motors spin continuously (360° of rotation)
• servos spin back and forth (120° of rotation)   J.M. Gabrielse
     “My robot doesn’t drive right!”
    (Do you need to invert any of your motors?)




• Test drive your robot with all it’s wheels off the ground
• Look to see if any motors need to spin in the other direction
• Check Invert Direction to make a wheel spin in the other direction.
• Build & Download your modified code
                                                                  J.M. Gabrielse

				
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