Introduction to Robo Pro Principles of EngineeringTM Lesson 4.5 – Control Systems RoboPro Software for fischertechnik® Project Lead The Way, Inc. Copyright 2007

RoboPro Screen Set to Level 1: Beginners Element Window Toolbar Program Window

Setting up the Interface Select the type of interface and port to connect to.

Checking the Interface Inputs Outputs Analog Inputs Interface Status

Checking the Interface

The Element Window Function blocks are Icons that, when selected, access Instruction Sets in the RoboPro software to perform the operations identified by the icons. They are located on the left-hand side of the screen.

The Flowchart When function blocks are placed on the screen and connected, a Flowchart is created.

Programming Icons Graphic Programming BASIC Programming Sample Instruction Sets Icons 500 INIT 510 If E1 = 1 THEN GOTO 530 520 GOTO 510 530 CALL M1 On 540 END

Motor Output Motor Outputs provide power to devices. The image of the function block can be changed from a motor to an electromagnet, lamp, solenoid, or buzzer to match the physical component that it controls. Select Interface Connection Choose Image Select Speed, Brightness, or Intensity Choose Action

Motor Outputs Output Images

Start & End The Start and End function blocks begin and end a program.

The program to control two output devices might look like this. Outputs Start Program The program to control two output devices might look like this. M1 Output On M2 Output On End Program

Time Delay The Time Delay is used to introduce a delay in a program. A time step can be set for seconds, minutes, or hours.

Digital Inputs Inputs Examples The Input function block queries the state of a digital input I1-I8 on the interface. A digital input can only have one of two states, 0 or 1. Examples Pushbutton Switch  Pushed or not pushed Phototransistor  Light or dark Reed Switch  Switched or not switched

Digital Inputs Input Images Phototransistor (light sensor) Switch (pressure sensor) Reed Switch (magnetic sensor)

Digital Inputs Digital Inputs can represent a variety of switch mechanisms, including a pushbutton switch, phototransistor, or reed switch. Digital Inputs connect to I1-I8 on the interface.

Text The Text tool is used to display information on the program page.

Wait for Input Wait for Input responds to a digital signal change.

Wait for Input Wait for Input is simpler and easier than using the digital input icon for some applications.

Counter Loop With the Counter Loop, you can execute a specific part of the program several times.

Counter Loop This Counter Loop allows a light to flash on for 2 seconds, then off for 2 seconds. The sequence will occur 10 times before the program ends.

Analog Branch With the Analog Branch, you can compare the value of an analog input with a fixed number. You can branch to the Yes (Y) or No (N) exit based upon the comparison. Set the condition and enter a comparison value.

Analog Branch This Analog Branch uses a photocell sensor to determine whether the reading (value of AX) is greater than 800. When it is, the light is turned off and the program ends.

Additional Programming Options At times more program options are necessary. Level 4 provides additional programming options.

Variables Variables are accessed from the element window.

Variables A Variable will store a value for use by the program. It is best to be descriptive when naming the variable so that its function is clear.

Commands Commands are used to change the value of variables.

Branch and Wait Branch and Wait functions make decisions using values entering through the branch or branches on the left.

Variables A Variable can be used to count, as in this example. The variable Dogs is increased by one each time through the loop until its value is greater than 3. The program then ends. The variable blocks are named the same so that the values always match.

Inputs and Outputs Inputs and Outputs are used to provide information to affect variables and to display values.

Variables A Variable can be used to store a value. In this example the value of a photocell is reflected in the variable by means of an Analog Input and is used to determine which way a motor will turn.

Operators Operators allow combining or comparing two variables using mathematics or logic.

Panel Elements Panel Elements are used to build a display or control board to interact with a fischertechnik® model.

Displays Values can be displayed on the screen.

Setting up a Display Text Displays can be customized.

Displays Panel Displays are used to assign the output device.

Subprograms Subprograms are pieces of a program that can be used many times in different places. They can also allow the programmer to isolate different portions of a complex program.

Subprograms Subprograms utilize the Entry and Exit commands.

Subprograms Once saved, the subprogram can be selected from available Loaded Programs.