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Basic Programming Structure using RobolabTM

Contents Basic Trouble shooting tips: ....................................................................................... 2

Flowchart ............................................................................................................. 2

Basics in Programming with Robolab ............................................................................. 3

-1- Go Forward/Backward ................................................................................ 3

-2- Modifiers ................................................................................................ 4

-3- Loop Structure .......................................................................................... 5

-4- Infinite Loop Structure ................................................................................ 6

-5- Wait for Push/Release (touch sensor) .............................................................. 7

-6- Wait for Darker/Brighter (light sensor) ............................................................. 8

-7- Wait for Specific Dark/Bright value (light sensor) ................................................ 9

-8- Basic "if" Structure / Robolab fork ................................................................. 10

-9- Basic sensor "loop" Structure ........................................................................ 11

-10- Basics Datalogging Sample ........................................................................... 13



Basic Trouble shooting tips:

Best Practice:

- Always start with a flow chart - Test the logic of the flow chart by just following the logic without running the robot. e.d.

pretend your pencil is the robot. You will then move your pencil following your program step by step.BEWARE! Follow WHAT THE PROGRAM SAID TO DO, NOT WHAT YOU WANT IT TO DO.

- Write your program following your flowchart. - Check your program against the flowchart.

Sensors did not react?

- id you connect the sensors to the correct port? - did your program have all the sensors connected to the proper port numbers? - did you use the correct sensor icon? Double click to get the help screen to verify. - use the view to check the sensor value. - did you forget the threshold value (if you use light sensor)

Robot does not stop?

- did you forget the “stop” icon? - did you check the logic step by step without the robot actually running.

Flowchart

Start/End

Process/Action

Conditions/Decisions

Flow Line

Merge

Wait

Can be

called the

terminator

Represent:

a single step, or

a sub-process

Used in 2 structures:

1. "if-then-else" (do not repeat)

2. While loop (repeat)

Connect all

symbols and

indicate the

flow

direction.

To merge

decision

paths

Wait

until;

Wait for



Basics in Programming with Robolab

-1- Go Forward/Backward

Sample 1: Go forward for 4 seconds and then stop.

Sample 2: Go forward for 4 seconds, then go in reverse for 4 seconds.

Sample 3: Make a point turn for a second. For some robots, it may mean 180°.

Exercises: Draw a flow chart for the following behaviors. Then, write the program and test run your

robot.

1) Robot go forward for 2 seconds and then stop. 2) Robot go forward for 2 seconds, back up for 2 seconds, and then stop. 3) Robot does point turn to left for 2 seconds, and then stop. 4) Robot does point turn to right for 2 seconds, and then stop. 5) Robot does a point turn for 180 degrees. 6) How about a drag turn for 180 degrees?



-2- Modifiers

Modifiers are used to modifiable values used for many “functions”, such as motors, timers, sensors,

and many others. Here are a couple basic ones:

1- Numerical constants

2- Power levels

Sample 1: Your robot goes forward for 4 seconds, stop for 0.5 seconds, then make a left turn, stop

for 2 seconds, and then go forward for 5 seconds.

Sample 2: Decelerate your robot.

Exercises: Draw a flow chart for the following behaviors. Then, write the program and test run your

robot.

1) Robot go forward for 2 seconds and then stop. 2) Robot go forward for 2 seconds, back up for 2 seconds, and then stop. 3) Robot does point turn to left for 2 seconds, and then stop. 4) Robot does point turn to right for 2 seconds, and then stop. 5) Robot does a point turn for 180 degrees. 6) How about a drag turn for 180 degrees?



-3- Loop Structure

This is for repeating a sequence of behaviors.

Sample 1: Repeat motor A and C go forward for 4 seconds. Repeat these steps for “20” times.

This is the a flowchart representing the logic flow:

Sample 2: Forward for 4 seconds, then turn for a second. Repeat this 20 times.

Exercises:

1) Draw a flowchart for the behaviors in Sample 2. Then, write the program and test your robot. 2) Robot goes forward for 2 seconds, back up for 2 seconds, and then stop. Repeat this 4 times. 3) Robot does point turn to left for 2 seconds, then stop and play a sound. Then, point turn to

right for 2 seconds, then stop and play a sound. Repeat this sequence 5 X.

4) Create your wiggle moment!

Beginning of a loop End of a loop

Being repeated

20x



-4- Infinite Loop Structure

Sample 1: Repeat these steps infinitely. Notice the “land” and “jump”. They are equivalent to

“beginning of an infinite loop” and “end of an infinite loop”.

Exercises

1) Robot goes forward for 2 seconds, backs up for 2 seconds, and then stops. Repeat this 4 times.

2) Robot points turn to left for 2 seconds, then stops and plays a sound. Then, points turn to right for 2 seconds, then stops and plays a sound. Repeat this sequence 5 X.

3) Create your wiggle movementst!

Land/Beginning of

the loop

Jump/ End of

the loop

Random # of

seconds



-5- Wait for Push/Release (touch sensor)

Wait for push:

Wait for release:

Sample1: Reset the touch sensor. This will allow you to view the sensor value when

presses. Download the program, and press “Run” at least once.

Sample 2: Robot moves forward until the front bumper (touch sensor) is pressed, back up for 1

second, turn for a random amount of time, and then stop.

Exercises:

1. Write a flow chart for the Sample2. 2. Program Sample 2 and test it. 3. Change the touch sensor to port 3, and it should stops after it turns a full 360 degree turn.

Modify your program and test it.



-6- Wait for Darker/Brighter (light sensor)

Wait for Darker (5% by default):

Waiter Brighter (5% by default):

LED – Light

Emitting Diode

Photo-transistor

Sample1: Reset the light sensor. This will allow you to view the sensor value. Download the

program, and press “Run” at least once.

Value on the screen indicates the reflection value == light value.

Sample 2: Program your robot to stop at the edge of the table. (Assuming your table is not very

dark).

Motor A and C simply stop when the light sensor on port 1 detects light sensor reading drops

by 5 %.



-7- Wait for Specific Dark/Bright value (light sensor)

Wait for light

value < 50%

Wait for light

value < 45%

Wait for light value

>50% (default)

Wait for light value

>45%

Sample 2: Keep going forward until the light sensor reads less than 40%.

Notice that the program initializes the light sensor for 10 milliseconds for warmup time.

Exercises:

1) Program for your robot to go straight and wait for dark. Then, it turns 180o left. 2) Program for your robot to keep turning until it sees very bright light.

darkest -------------------------------- brightest

0% 100%

To calculate threshold: (black + white) / 2

e.g. black = 30

white = 50

threshold = 40



-8- Basic "if" Structure / Robolab fork

Touch sensor "if" structure

Light sensor “if” structure

Both need to end with a

“merge”

symbol:

Sample1: The robot will follow a line. Now, the number “50” depends on the threshold

calculation. What you need to do is to take reading for your test field as following:

step 1) place your light sensor above black, write this down: black = ______

step 2) place your light sensor above white, write this down: white = ______

step 3) threshold = (black + white)/2 . Replace the numerical value to what you calculated.

Sample 2: Robot goes forward until it hits an obstacle. When it hits an obstacle, it turns around for 1

second. Note that this is only a sample for general situation. You must conduct your own trouble

shooting your robot somehow does work as expected.

Exercises:

Complete all samples and test. You must attach proper sensors to your robot before you can

proceed.



-9- Basic sensor "loop" Structure

Touch sensor loop

Light sensor loop

Sample 1: Robot traces the line using light sensor on port 2, until the touch sensor or port 1hits an

obstacle.

Sample 2: Robot goes forward. Once the touch sensor on port 1 hits an obstacle, it turns around. It

repeats this sequence of behaviors while the light sensor on port 2 sees lower than 45.



Sample 3: Lined tracing with obstacle course. Robot traces a line with the light sensor on port 3.

When its touch sensor on port 2 hits an obstacle, it will turn around to get back on tracing line and

return to base.

Exercises:

Complete all samples and test. Again, you must attach proper sensors to your robot before you can

proceed.



-10- Basics Datalogging Sample

Basic icons:

Reset: Start data logging: Stop data logging:

Initializes the NXT Sensors to take data and configures data logging settings. By default, each of each icon is connected to Port 1 and data is recorded in the Red Data Set. Note: This command must appear before any data logging of the sensor can begin.

Initializes the Rotation Sensor to take data and configures data logging settings. Port C data will be recorded in the Blue Set. Total Buffer Size is 1000. That means This number can range from 0-2000 and is dependent on the amount of memory used by the program. Note: This command must appear before any data logging of the sensor can begin.

Clears data logging buffer and resets the datalog timer. This frees up the space for longer programs.

Start the data logging and data will be saved in the Blue Data Set and data is captured every 1/4 second, i.e data is logged 4 times in a second.

engineering for kids basic programming structure …...engineering for kids 3322 rt. 22 west, suite...

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