My first robot programming - Simple “Go” Young Joon Kim MSRDS First Beginner Course – STEP4

2 Topics Preparing basic environment Simple “Go” drive “Go Forwards” drive “Go Backwards” drive Stopping a robot Going around Turning round

3 “Go” Drive Commands

4 Go –Drive a robot with motor power –Motor power is set with given value and keeps its value Usages –robotname.Go() //default power is 0.2 –robotname.Go(power) –robotname.Go(left_power, right_power) Range of motor power values –-1.0 (Max backwards) ~ 1.0 (Max forwards) –0: Stop the motor

5 “Go” Drive Commands Go forwards –Use the value above 0 –Ex) robotname.Go() robotname.Go(0.3) robotname.Go(0.2, 0.2) Go backwards –Use the negative value –Ex) robotname.Go(-0.3) robotname.Go(-0.2, -0.2)

6 “Go” Drive Commands Stopping a robot –Use the value 0 –Ex) robotname.Go(0) robotname.Go(0, 0) robotname.Stop()

7 Preparing basic environment

8 Launch VPL and add an new “Data” activity

9 Preparing basic environment Type “Script/BasicEnv0.txt” with “string” type

10 Preparing basic environment Add “SPL Engine” service

11 Preparing basic environment Connect “Data” activity to “SPL Engine” service

12 Preparing basic environment Select “ExecuteScriptFile” on the right list 1 2

13 Preparing basic environment Select “value” item on the left list 1 2

14 Preparing basic environment Run VPL diagram by pressing “F5” key or clicking “Start” icon

15 Preparing basic environment Execution result

16 Simple “Go” drive

17 Simple “Go” drive Add a new “Data” activity and change its type as “string” 1 2

18 Simple “Go” drive Type “myrobot.Go()” in the new “Data” activity

19 Simple “Go” drive Add an new “SPL Drive” service

20 Connect the output point of “Data” activity to the input point of “SPL Drive” service by dragging Simple “Go” drive

21 Select “value” item on the left list Simple “Go” drive 1 2

22 Simple “Go” drive Run VPL diagram by pressing “F5” key or clicking “Start” icon

23 Simple “Go” drive Execution result

24 “Go Forwards” drive

25 “Go Forwards” drive Change drive command as follows –myrobot.Go() -> myrobot.Go(0.5) –Left and right power will be set with 0.5

26 “Go Forwards” drive Run VPL diagram by pressing “F5” key or clicking “Start” icon

27 Execution result “Go Forwards” drive

28 “Go Backwards” drive

29 “Go Backwards” drive Change drive command as follows –myrobot.Go(0.5) -> myrobot.Go(-0.1) –Left and right power will be set with -0.1

30 “Go Backwards” drive Run VPL diagram by pressing “F5” key or clicking “Start” icon

31 Execution result “Go Backwards” drive

32 Stopping a robot

33 Stopping a robot Add an new “HelloApps (Util) Button Dialog” service

34 Stopping a robot Add below diagram to make a robot stop 1 2

35 Stopping a robot Connect notification point of “Button Dialog” to the input point of “Data” activity Input point Output point Notification point

36 Stopping a robot Connect notification point of “Button Dialog” to the input point of “Data” activity

37 Stopping a robot Select “NotifyButtonClicked” item on the left list

38 Stopping a robot Run VPL diagram by pressing “F5” key or clicking “Start” icon

39 Execution result Stopping a robot Go backwards Click Stop

40 Going around

41 Going around Reopen “Going Forwards” diagram sample

42 Going around Change drive command as follows –myrobot.Go(0.5) -> myrobot.Go(0.2, 0.4) –Left and right power will be set with 0.2 and 0.4

43 Going around Run VPL diagram by pressing “F5” key or clicking “Start” icon

44 Execution result Going around

45 Turning round

46 Turning round Change drive command as follows –myrobot.Go(0.2, 0.4) -> myrobot.Go(0.2, -0.2) –Left and right power will be set with 0.2 and -0.2

47 Turning round Run VPL diagram by pressing “F5” key or clicking “Start” icon

48 Execution result Turning round