PLTW CALIFORNIA STATE CONFERENCE FEBRUARY 19, 2015 COLIN SMITH CENTENNIAL HIGH SCHOOL BAKERSFIELD, CA Advanced RobotC Programming Topics

Multi-Tasking Limitations of Linear programming Users must be careful with what control structures are being used. Adding tasks to control different motors/sensors Sensors can be shared, motors shouldn't

Implementing Multitasking Works like function declaration Task can be started or stopped within main() using the StartTask or StopTask functions.

continued Finally, the task must be defined

Use of Multi-tasking Allows multiple actions to occur ‘simultaneously’ Materials sorter Emergency shutoff StopAllTasks function

Proportional Control Use variables for iterative control of motor speeds Sensors are required for continuous input A target value is set and is used to control the speed of the motor(s)

Error Inside a loop, the ‘distance’ to the target is used to determine the speed of the motor. This distance to target is often referred to as the error

Proportionality Instead of a 1:1 ratio between the error and the motor speed, there is often a proportionality constant used to ‘tune’ the response of the motor.

Tuning the Proportionality constant

Code – traditional motor control

Proportional Lift

Additional Resources