Programing Concept Ken Youssefi/Ping HsuIntroduction to Engineering – E10 1 ENGR 10 Introduction to Engineering (Part A)

What is Computer Programming ? Ken Youssefi/Ping HsuIntroduction to Engineering – E10 2 As a computer programmer, your job is to instruct a computer to do things. Basically, writing computer programs is describing how to do something. The lists of instructions that you will write are computer programs, and the stuff that these instructions manipulate are different types of objects, e.g., numbers, words, graphics, etc... “One thing that you will learn quickly is that a computer is very dumb but obedient. It does exactly what you tell it to do, which is not necessarily what you wanted.”

Ken Youssefi/Ping HsuIntroduction to Engineering – E10 3 “It has often been said that a person does not really understand something until he/she teaches it to someone else. Actually a person does not really understand something until after teaching it to a computer, i.e., express it as an algorithm.” (Donald Knuth, "American Mathematical Monthly," 1981)

Programming Languages Ken Youssefi/Ping HsuIntroduction to Engineering – E10 4 A type of programming where a structured method of creating programs is used. With procedure- oriented programming, a problem is broken up into parts and each part is then broken up into further parts. All these parts are known as procedures. They are separate but work together when needed. A main program centrally controls them all. Examples of procedure-oriented languages are COBOL, FORTRAN, and C; these are not commonly used today. Procedure-oriented programming

Programming Languages Ken Youssefi/Ping HsuIntroduction to Engineering – E10 5 Object-oriented programming In object-oriented programming, data types defined by the programmer are called classes (templates for a real world object to be used in a program). For example, a programmer can create a data type that represents a sensor. This class can contain the properties of a sensor (sensitivity, range, on-off, etc.) and functions that specify what it does. Examples of object-oriented languages are C++, Java.

Different Programming Languages Ken Youssefi/Ping HsuIntroduction to Engineering – E10 6 C An advanced programming language used for software application development. Originally developed by Dennis Ritchie at Bell Labs in the 1970's. The UNIX operating system is written in C (popular before Windows). C++ Next generation of the C language. The difference between the two languages is that C++ is object- oriented. C++ was developed by Bjarne Stroustrup at Bell Labs and is a very popular language for graphical applications.

A Math Example Ken Youssefi/Ping HsuIntroduction to Engineering – E10 7 y = [ 3 × ( a × a + 7) ] / b + 4 a2a2 a × (a 2 + 7) = 3a (3a ) / b (3a ) / b + 4

Consider the sequential execution of the above expressions to find the value of y: Ken Youssefi/Ping HsuIntroduction to Engineering – E10 8 p = a x a; q = p + 7; r = 3 x q; s = r / b; y = s + 4; y = [ 3 × ( a × a + 7) ] / b + 4

Application specific programming language based on C++ Ken Youssefi/Ping HsuIntroduction to Engineering – E10 9 Open a new file

EasyCPro – old version (PIC) Ken Youssefi/Ping HsuIntroduction to Engineering – E10 10 Function blocks Flow chart Program code Your program is inserted here

Ken Youssefi/Ping HsuIntroduction to Engineering – E10 11 EasyCcortex – new version Open a New Standslone Project and select Autonomous Only Project

Ken Youssefi/Ping HsuIntroduction to Engineering – E10 12 Function blocks Flow chart Program code EasyCcortex - new version Your program is inserted here Use the Window option to configure the appearance of the screen

Variables Ken Youssefi/Ping HsuIntroduction to Engineering – E10 13 A semicolon is required at the end of each C instruction. A “variable” is a place where we store a value. A = 10 ; // The value 10 is stored in A. Any statement after the sign “//” is NOT part of the program. It is a comment made by the programmer. Value of 10 is placed in the storage location called “A”. So “A” is a variable

Variables Ken Youssefi/Ping HsuIntroduction to Engineering – E10 14 Every variable in the program needs to be declared in the beginning of the program. Declaration of the variable tells the program its name and its type int speed ; The word “int” indicates that the variable ‘speed’ is an integer variable.

Commonly Used Variable Types Ken Youssefi/Ping HsuIntroduction to Engineering – E10 15 Variable Type DescriptionRange Int Stores integer values EX: 5, ,768 to +32,767 Long Stores integer values with extended range EX: 56, 6000, -4,234,128 -2,147,483,648 to +2,147,483,647 float Stores values with decimal point EX: 1.245, [-10^+38, -10^-38] 0 [10^-38, 10^+38] char Stores characters* EX: A, # _

Variables Ken Youssefi/Ping HsuIntroduction to Engineering – E10 16 This variable is accessible from anywhere within your program. Global Variable This variable is only accessible from a “local area” within your program (“functions” will be discussed later). Local Variable

Global Variable Declaration Ken Youssefi/Ping HsuIntroduction to Engineering – E10 17 To declare a global variable, right click on the tab “Global” in the Main program and select Edit Block (or double click the block) Insert variable name Select variable type Starting value of the variable Cortex (new controller )

Example of Assigning Variables Ken Youssefi/Ping HsuIntroduction to Engineering – E10 18

Assignment Operator Ken Youssefi/Ping HsuIntroduction to Engineering – E10 19 In C language “ = ” is an assignment operator, not an “ is equal to ” statement. A = A+1; //means assign the value A+1 // back to A, i.e., increase A by 1. A = 10; // means assign 10 to A. A = B; // means assign the value of B to A This == symbol is used for checking ‘equal’ condition, not for value assignment.

Assignment Operator: Examples: Ken Youssefi/Ping HsuIntroduction to Engineering – E10 20 int A; // a variable named A of type integer int B; // a variable named B of type integer A = 10; // value 10 is assigned to variable A B = (24+16)/2; // 20 is assigned to variable B A = A + 15; // value of (A+15) is first evaluated and then assigned to A. So now A=(10+15)=25 B = A + B ; A = B – 40; // Now A=(45-40)=5, B=45 A = A * B; // Now A=(5*45)=225, B=45 B = A / 9; // Now A=225, B=25 // Now A = 25, B = (25+20)=45

Clicker Question 1 Ken Youssefi/Ping HsuIntroduction to Engineering – E10 21 What is the value of B at the end of this program? int A; int B; A = 12; B = 15; A = A + (B/3) ; B = A + B – 7 ; (A)12, (B)15, (C)17, (D)20, (E)25

Decision Making Ken Youssefi/Ping HsuIntroduction to Engineering – E10 22 A linear (sequential) execution of instructions can only perform a simple task that does not involve decision making. The IF instruction gives a C program decision making ability The ability to make decision is the most basic form of intelligence.

IF Statement (logic statement) Ken Youssefi/Ping HsuIntroduction to Engineering – E10 23 if (Number == 0) { PrintToScreen (“The Number is Zero”); } if (Number < 0) { PrintToScreen (“The Number is negative”); } Example Only if this condition is true, this instruction is executed.

IF Statement Ken Youssefi/Ping HsuIntroduction to Engineering – E10 24 Select, drag and drop the IF statement into the flow chart

IF-ELSE Statement Ken Youssefi/Ping HsuIntroduction to Engineering – E10 25 IF-ELSE statement should be used where there are only two possible cases. If (score <60) { PrintToScreen(“You failed the test”);} else { PrintToScreen(“You passed the test”);}

EasyCPro - Example Ken Youssefi/Ping HsuIntroduction to Engineering – E10 26 Drag and drop the IF module, the Print To Screen, and Else module into the flow chart

Clicker question 2 Ken Youssefi/Ping HsuIntroduction to Engineering – E10 27 What is the value of A and B at end of this program? (A) A=12, B=21 (B) A=9, B=12 (C) A= 9, B=9 (D) A=12, B=12 (E) A=12, B=9 A = 9 ; B = 12 ; if ((A + B) > 22) { A = B ; B = A; } else { B = A; A = B; }

WHILE Statement Ken Youssefi/Ping HsuIntroduction to Engineering – E10 28 The WHILE statement is useful for repeating a set of instructions Suppose we have to add the first 50 positive integers …………………… You could use a single statement: int SUM ; // integer variable for the result SUM = ……………… ;

Ken Youssefi/Ping HsuIntroduction to Engineering – E10 29 How to Add a User Code Enter the expression to be executed Drag and drop User Code

Ken Youssefi/Ping HsuIntroduction to Engineering – E10 30 Much better approach is To use “While” statement This block of instructions is executed repeatedly until the condition is not true. This condition is checked first. If it is true, the block of instructions enclosed by the curly brackets { } is executed. Initialize the variables SUM and COUNTER

Clicker Question 3 Ken Youssefi/Ping HsuIntroduction to Engineering – E10 31 What is the final value of A ? int A; int i; A = 0; i = 0; while (i < 3) { A = A + i; i = i + 1; } (A)2 (B)3 (C)4 (D)6 (E)10

Solution to Clicker question 3 Ken Youssefi/Ping HsuIntroduction to Engineering – E10 32 Initially i = 0, A = 0. First iteration: condition 0<3 is true A = 0+0=0, i = 1 Second iteration : condition 1<3 is true A = 0+1=1, i = 2 Third iteration : condition 2<3 is true So A = 1+2=3, i = 3 Fourth iteration : condition 3<3 is false So the WHILE loop stops. Final Value of A is 3. int A; int i; A = 0; i = 0; while (i < 3) { A = A + i; i = i + 1; }

Finite and Infinite Loop Ken Youssefi/Ping HsuIntroduction to Engineering – E10 33 In the previous examples we have employed condition checking in order to control the flow of execution. – We have made the loop to repeat only a finite number of times. We can also make the loop to repeat infinitely The infinite loop is necessary to continuously check the signal coming from the sensor.

Ken Youssefi/Ping HsuIntroduction to Engineering – E10 34 Write a short program so that the robot moves forward as long as it has not encounter any obstacles (bumper sensor is not pressed), and it stops when bumper is activated (hit an obstruction).

Setting up the program for the Sensors Ken Youssefi/Ping HsuIntroduction to Engineering – E10 35 Double click the Variable block to create a new “int” variable named “bumper” Declare the variable Bumper

Setting up the program for the Sensors Ken Youssefi/Ping HsuIntroduction to Engineering – E10 36 Select, drag and drop the While Loop icon between the BEGIN and End In the config. window set the condition of the while loop to be 1==1, this will force the while loop to loop for an infinite amount of time

Setting up the program for the Sensors Ken Youssefi/Ping HsuIntroduction to Engineering – E10 37 Select, drag and drop the “Bumper Switch” icon into the program in the WHILE loop

Setting up the program for the Sensors Ken Youssefi/Ping HsuIntroduction to Engineering – E10 38 Set the Digital Input # to the port that the sensor is plugged in This is an infinite loop to check the signal from the bumper. If the bumper is pushed its value will change to 0 Select Bumper from the list of variables

Integrating Motors with Sensors Ken Youssefi/Ping HsuIntroduction to Engineering – E10 39 Drag and drop an IF and ELSE icons from the Program Flow into the program below the sensor Set the condition for the IF statement, bumper == 1, no obstacle,

Integrating Motors with Sensors Ken Youssefi/Ping HsuIntroduction to Engineering – E10 40 Your robot will be using two motors. Drag and drop two motors in the IF loop and two motors in the ELSE loop. Set the motor ports and speeds. Go forward Stop With this program, the robot moves forward as long as the bumper is not pressed (value=1). Robot will stop if it hits an obstacle (value=0)

Ken Youssefi/Ping HsuIntroduction to Engineering – E10 41 Bumper is not pressed Bumper is pressed