robofest 2005 Introduction to Programming RIS 2.0 RCX Code

robofest 2005 Starting the RCX Programming Environment Double Click on the RCX icon Double Click on the RCX icon Once the program is loaded, create a new user, or select an existing one Once the program is loaded, create a new user, or select an existing one Click on Program Click on Program Click on Freestyle Click on Freestyle

robofest 2005 Starting the RCX Programming Environment

robofest 2005 Mission 1: Drive Forward (with Timer) Go Forward for 5 seconds Go Forward for 5 seconds Stop Stop

robofest 2005

Saving your work Go to File Go to File Click on Save Click on Save Type in File Name. i.e. First Mission Type in File Name. i.e. First Mission

robofest 2005 Downloading and Running 5 different programs can be loaded onto the RCX at once 5 different programs can be loaded onto the RCX at once Select which slot you want to use by clicking on Settings and selecting one of the 5 slots Select which slot you want to use by clicking on Settings and selecting one of the 5 slots Make sure that the robots IR port is facing towards the IR tower, and click Download Make sure that the robots IR port is facing towards the IR tower, and click Download When the download is finished, you will hear a beep When the download is finished, you will hear a beep You can now run the program by pressing the grey Prgm button on the RCX to select the slot you programmed You can now run the program by pressing the grey Prgm button on the RCX to select the slot you programmed And press the green Run button And press the green Run button

robofest 2005 Driving in Reverse Use the Set Direction block under Small Blocks Use the Set Direction block under Small Blocks

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After changing the directions, turn on the motors for 3 seconds After changing the directions, turn on the motors for 3 seconds

robofest 2005Turning Set the direction of one motor to Forward and the direction of the other motor to Back Set the direction of one motor to Forward and the direction of the other motor to Back

robofest 2005 Repeat For Play a beep 3 times Play a beep 3 times Uses the Repeat For block. Uses the Repeat For block. Repeat For specifies the number of times a certain action is to be performed. Repeat For specifies the number of times a certain action is to be performed. i.e. Repeat Beep For 3 Times i.e. Repeat Beep For 3 Times

robofest 2005 Repeat For

robofest 2005 Light Sensor Mounted to the front of the robot, facing the ground Allows detection of lines, white or black, as well as detecting lamps, lasers, and other light sources Use the View button on the robot to view the light sensor value over the black line. Remember or write down this value.

robofest 2005 Using the light sensor Select Wait Until from the Wait column Select Wait Until from the Wait column Select Light and click Next Select Light and click Next Select Input Port # to which the light sensor is connected. Press Next. Select Input Port # to which the light sensor is connected. Press Next. Select Bright if looking for white line, Dark if looking for black line. Press Next. Select Bright if looking for white line, Dark if looking for black line. Press Next.

robofest 2005 Click on Manual and enter a value for the line. Usually its the value from using the View button – 5 for a white line, or the value from using the View button + 5 for a black line Click on Manual and enter a value for the line. Usually its the value from using the View button – 5 for a white line, or the value from using the View button + 5 for a black line

robofest 2005 Mission 2: Detect Edge When the light sensor detects an edge, beep three times When the light sensor detects an edge, beep three times

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Mission 3: Detect Light and Beep When the light sensor detects a bright light source, beep When the light sensor detects a bright light source, beep Repeat forever Repeat forever

robofest 2005

Mission 4: Drive Forward and Stop Go forward until the edge of the board/table Go forward until the edge of the board/table Stop Stop

robofest 2005 Mission 4 Solution

robofest 2005 Touch Sensor Touch sensor is attached to the bumper Touch sensor is attached to the bumper When the bumper is pressed the touch sensor is activated When the bumper is pressed the touch sensor is activated

robofest 2005 Using the Touch Sensor Turn on the motors Turn on the motors Select the Wait Until block from the Wait column or Repeat Until from the Repeat column Select the Wait Until block from the Wait column or Repeat Until from the Repeat column Make sure Touch is selected and press Next Make sure Touch is selected and press Next Choose Input Port # to which the touch sensor is connected, and press Next Choose Input Port # to which the touch sensor is connected, and press Next Make sure Press is selected, which will allow the robot to react when the touch sensor is pressed. Press Next again. Make sure Press is selected, which will allow the robot to react when the touch sensor is pressed. Press Next again. Press Done Press Done Turn off the motors Turn off the motors

robofest 2005 Mission 5: Touch Sensor If the touch sensor is pressed once, turn on the left motor If the touch sensor is pressed once, turn on the left motor If the touch sensor is pressed twice, turn off the left motor, and turn on the right motor If the touch sensor is pressed twice, turn off the left motor, and turn on the right motor If the touch sensor is pressed three times, turn on both motors If the touch sensor is pressed three times, turn on both motors If the touch sensor is pressed four times turn both motors off If the touch sensor is pressed four times turn both motors off Repeat Forever Repeat Forever

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Mission 6: Yes or No Statements If the Light Sensor is detecting the edge then play Beep #1 If the Light Sensor is detecting the edge then play Beep #1 Otherwise play Beep #2 Otherwise play Beep #2 Repeat Forever Repeat Forever

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Mission 7: Right-Handed Line Follow with Touch Sensor If light sensor sees black - turn right, otherwise – turn left If light sensor sees black - turn right, otherwise – turn left Repeat the process until the bumper is hit Repeat the process until the bumper is hit Stop Stop

robofest 2005 Mission 7: Right-Handed Line Follow with Touch Sensor

robofest 2005 Mission 8: Line Follow and Stop Follow the black line, until robot reaches edge of the board Follow the black line, until robot reaches edge of the board Stop Stop

robofest 2005 Mission 8: Line Follow and Stop

robofest 2005 Mission 9: Left-Handed Line Follow If light sensor sees black - turn left, otherwise – turn right If light sensor sees black - turn left, otherwise – turn right Repeat the process until the bumper is hit Repeat the process until the bumper is hit Stop Stop

robofest 2005 Mission 9: Left-Handed Line Follow

robofest 2005 Mission 10: Sensor Stacking Stack touch sensor on top of light sensor Stack touch sensor on top of light sensor Follow the line, when touch sensor is activated stop. Follow the line, when touch sensor is activated stop. When the stacked touch sensor is pressed the value on Port 2 will read 100. When the touch sensor is not pressed the value for the light sensor will be read.

robofest 2005 Mission 10: Sensor Stacking

robofest 2005 Sensor Stacking With Tasks

robofest 2005 Mission 11: Line Counter with Variables Go forward Go forward Count each line as the robot crosses it Count each line as the robot crosses it When the robot crosses the 3 rd line, stop. When the robot crosses the 3 rd line, stop. Uses variables to count number of lines Uses variables to count number of lines

robofest 2005 Mission 11: Line Counter with Variables

robofest 2005 Mission 12: Proximity Sensor (simple method*) Use the IR Transmitter and Light sensor to create a Proximity Sensor Use the IR Transmitter and Light sensor to create a Proximity Sensor Constantly generate IR messages, and use the Light Sensor to detect the reflected IR beam Constantly generate IR messages, and use the Light Sensor to detect the reflected IR beam (*) There is another better method to check fluctuations of the light intensity

robofest 2005

Mission 13: IR Communications One RCX is sending a message, the other is receiving it One RCX is sending a message, the other is receiving it Confirm that the message has been received by beeping Confirm that the message has been received by beeping

robofest 2005 Transmitter Solution

robofest 2005 Receiver Solution

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