1. Innovation First Hardware & Default Program The 5¢ Tour... Dr. Joe January 5, 2002

2. Agenda Dr. Joe -- who IS this guy? Before you wire or code... Hardware Components Overview Parallax Software Overview Default Code Overview Q&A Wrap Up

3. Dr. Joe B.S. Mechanical Engineering –University of Illinois 1984 M.S. & Ph.D. Mechanical Engineering –Purdue University 1986 & 1989 Delphi (part of GM until 1999) –1989 - Present Licensed Professional Engineer –State of Michigan since 1996

4. Dr. Joe (2) Chief Delphi Team Leader –7th Year with Team #47 “The Ooga Man”

5. Before You Wiring or Code... Get Latest Manual –Version 2.0 of the Stamp Manual is worth the price –free download at parallaxinc.com Download the latest manuals from InnovationFirst.com Read the FIRST Rules!!!

6. Before You Wire or Code... (2) Put thought into Operator Interface and Robot Switches/Pots Define Inputs and Outputs as soon as possible Number your motors, pots, switches, Victors, Spikes

7. Before You Wire or Code… (3) Neat Wiring Saves time in the long run –Use number tape on everything! –Invest in many paint pens (various colors) Design your switches & pots in from the start Build yourself a “yellow dongle” –See Whitepaper Section of ChiefDelphi.com

8. Hardware Overview Notes from Innovation First: –Must use Parallax Code V1.096 (or higher when avail. V1.3 just out) to program “SX” chip properly –Download Program in 2 places: User & Default Addresses Potential Problem with STAMP2’s

9. Hardware Overview (2)

10. Gyros Hardware Overview (3) Simplified Block Diagram Joy Stick Ports 1-4 Potentiometers Switches Operator Interface CPU Radio Robot Controller CPU Discrete LED’s 3 Digit Display Digital Port Analog Port Discrete LED’s Dashboard Port Laptop PC PWM Pins Relay Pins Valves Servos Motors STAMP2 CPU Potentiometers Switches

11. Hardware Overview (4) Stuff On Robot –Robot Controller “RC” (Brains) Your Program Runs In Here –RC Radio –Victor (Silicon H-Bridge) High Current (bigger motors) Variable Output –Spike (Double Acting Relays) Lower Current (smaller motors) FWD/OFF/REV Driver for Pneumatic Valves

12. Hardware Overview (5) -- RC

13. Hardware Overview (6) RC Radio

14. Hardware Overview (7) -- Victor

15. Hardware Overview (8) -- Spike

16. Hardware Overview (9) Stuff Not On Robot –Operator Interface “OI” (Data Sender) –OI Radio

17. Hardware Overview (10) -- OI

18. Hardware Overview (11) OI Radio

19. Parallax Software Overview Basic Icon Tour Opening a file Downloading a file EEPROM Map RAM Map

20. Default Code Overview What is your Role in the World? –CPU in a bubble –Only Indirect Contact with Outside world –You’re the Tail. You’re not the Dog. Live by the rules others set and you may do great things Break the rules and you are likely to be cut off

21. Gyros Default Code Overview (2) Simplified Block Diagram Joy Stick Ports 1-4 Potentiometers Switches Operator Interface CPU Radio Robot Controller CPU Discrete LED’s 3 Digit Display Digital Port Analog Port Discrete LED’s Dashboard Port Laptop PC PWM Pins Relay Pins Valves Servos Motors STAMP2 CPU Potentiometers Switches

22. Default Code Overview (3) Block Diagram of Default Code Housekeeping Initialization Main Loop

23. Q&A Stop me before I talk again...

24. Wrap Up PBASIC gives you enough rope to hang yourself Have backup copies of program handy –Make sure the backups are current (use dates in names) Have fall back positions Keep your sanity Go easy on your programmers -- pressure is very high

25. Wrap Up (2) ParallaxInc.com & Read the Manual Support from other teams –HOT team (Mike Gray in particular) –The BUZZ Team SharingFIRST.org web site ChiefDelphi.com Tech Forums Call me 248.655.8423 E-mail me DrJoe@ChiefDelphi.com

26. The Zen of PBASIC By the Numbers –Word0 - 64K$0000 - $FFFF –Byte 0-255$00 - $FF –Nibble 0-15$0 - $F –Bit0-1$0 - $1

27. The Zen of PBASIC By the Numbers $0000 $8000 $FFFF $7FFF

28. The Zen of PBASIC Min 0 -- What good is it? () will drive you nuts -- I recommend that you learn what precedence and use it to your advantage Force yourself to use structure -- comment your code, use Gosub calls, settle on a “style” and keep to it.

29. Debug & Dashboard Dashboard is “free” –does not affect program execution –it is FREE from Innovation First –limited ability to display interesting stuff –you can role your one viewer, but … Debug love it, hate it. –slows execution of PBASIC –can display nearly limitless information, just when you need it most

31. Example Programs Cool Tricks to steal from the Default Code Do THIS for THAT much time Scaling Pots Learning Pot Limits Joystick Wheel as a Throttle Proportional Feedback