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Introduction to
RoboLab
CJ Chung
Lawrence 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 Page
www.lego.com/dacta/robolab
• National Instruments Page
www.ni.com/robolab
• Tufts University
www.ceeo.tufts.edu/graphics/robolab
• www.lego.com/education/mindstorms/im
ages/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 click
Broken 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
Method 1:
stop
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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How to follow a line using one
Light Sensor? - Zigzag methods
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Subroutine – a set of commands
• Create Subroutine No. n:
n
• Run subroutine 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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Line Counter Solution Using
RoverBot Style Gearing
If no time to skip black line, a line can be counted more than once.
Wait for Dark 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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Mission 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
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