1. ADVANCED BRAIN Training
Presented by:
Matt Lapolla

2. Topics for this class Example Why program your BRAIN? Vocabulary
Useful References:
BRAIN Software Rev 3.pdf
IR Communications
More functionality than just 4 channels
Selection Stick
State Machines
Readjusting the driving joystick
Debugging
LED’s
Serial Communication
Example
Topics for this class

3. Make Things Simpler for the driver and designers
Automate operations
Use the BRAIN to its maximum potential
Have better control of your robot
Why program your BRAIN?

4. Why program your BRAIN Don’t Over complicate the controls
Your drivers have understand the controls
Can’t put stickers, tape, etc on transmitter
Why program your BRAIN

5. String vs. Number
Integer Number
Real Number
Proportional
Vocabulary

6. Vocabulary How you see the number 13 13
How the computer sees the number 13
1101 <- this is a number
How the computer displays the number 13
Character(49) and Character(51)
1 and 3
13 <-this is a string of 2 characters
Vocabulary

7. Integers : 1, 54, 742, 34532
Real : 1.233, .3532,
Vocabulary

8. Vocabulary Proportional is the same as variable
Think of a dimmer switch in your house
Non-Proportional is On or Off
Think of a normal light switch in your house
Vocabulary

9. IR Communications The IR transmitter (on your robot)
Is optional – But can help the points
Sends commands to the game field
Uses a modified servo port
You will not be able to verify until mall day or game day.
ALWAYS bring your most current program with you to mall day and game day!
Laptop
Thumb drive CD
IR Communications

10. To use the IR transmitter you need to change the way the servo port operates.
The code looks like this:
Declare Variables and Initialize our port
unsigned short now;
...
int main( void ){
InitBrain(); // initialize the BRAIN
now=getClock(0); // Give 1/5 sec
while(getClock(now)<10); // delay for CP
setServoRange(0,180); //if 0 is IR port
IR Communications

11. IR Communications Now we need to use our IR commands
Commands are numbers sent to our IR port
Read the rules on page 21
To send the command 300 to the IR port
setServo(0,300); // if 0 is our IR port
To send the command 900 to the IR port
setServo(0,900); // if 0 is our IR port
IR Communications

12. More functionality than 4
More functionality than just 4 channels?
More functionality than 4

13. The Transmitter has 4 proportional channels
Selection stick

14. Channel 0
Selection stick

15. Channel 1
Selection stick

16. Channel 2
Selection stick

17. Channel 3
Selection stick

18. So you should only be able to control 4 things with our transmitter.
Is it possible to control 5 things with proportional channels?
Selection stick

19. YES
Instead of using channel 2 as a proportional control of a motor or servo, we use it as a selection switch.
It will select what the right joystick (channel 0 and 1) control.
Selection stick

20. For example: If the left joystick is up, then the right joystick controls the drive motors
Selection stick

21. For example: If the left joystick is DOWN, then the right joystick controls the robotic arm
Selection stick

22. So now we have 5 proportional controls with only 4 channels
4 on the right stick (depending on the up/down position of the left stick)
And one more: left stick side to side.
A total of 5!
Selection stick

23. Selection stick The code for this looks something like this:
if(getRcValue(2,DEADBAND,125)<512){
// Do this if the stick is in the Upper half
}else{
// Do this if the stick is in the Lower half }
Left Stick Up and down
Selection stick

24. Selection stick If we use the entire left stick (channels 2 and 3) …
We can easily create 9 sensitive areas.
Selection stick

25. Separate the left stick in to a 3x3 grid
Selection stick

26. The vertical and horizontal limits of the joystick are 0 to 1023
1023
1023
Selection stick

27. If we integer divide the vertical and horizontal limits of the joystick by 342 we will get a range of 0, 1, and 2 1 2 2 1
Selection stick

28. Now we combine the row and column into one number
Now we combine the row and column into one number. 00, 01, 02, 10, 11, 12, 20, 21 or 22
Row*10+Column 1 2 2 1
0 (00)
1 (01)
2 (02) 10 11 12 20 21 22
Selection stick

29. The code to make 9 sensitive areas looks like this:
Selection stick

30. //Get and determine Vertical cell of Left joystick
Row = getRcValue(2,8,125)/342;
//determine Horizontal cell of left Joystick.
Column = getRcValue(3,8,125)/342;
Cell = Row*10 + Column; // Combine the cell
// Determine what to do in each cell of the left joystick
switch (Cell){
case 0: // Left Joystick in the Upper Left corner
// Put your code here
break;
case 1: // Left Joystick in the Upper Center Corner
case 2: // Left Joystick in the upper Right corner
case 10: // Left Joystick in the Center Left
case 11: // Left Joystick in the Center Center
case 12: // Left Joystick in the Center Right
case 20: // Left Joystick in the Lower Left
case 21: // Left Joystick in the Lower Center
case 22: // Left Joystick in the Lower Center }

31. With this arrangement we could have 18 proportional channels or…..
Selection stick

32. Any combination of Proportional channels and other functions…
Selection stick

33. State Machines What other functions? Non-proportional channels*
For Example: Open the hand*, close the hand*
Open Hand
Close Hand
State Machines

34. State Machines What other functions? State Machines Close Hand then
Lower Arm
Tip Bucket
Etc...
State Machines

35. State machines State Machines execute a series of actions
They can be time based
Turn on Motor 0, wait 3 seconds
Then, Set servo 3 to 800 and wait for 4 seconds
Then...
Or they can use some feed back (input)
Turn on motor 0 until switch 1 is pushed
Then turn on motor 1 until switch 2 is pushed
State machines

36. A timed state machine code looks like this:
State machines

37. //To turn on your sequence:
Seq1 = 0; //Set the first sequence number
DelaySeq1 = 0; //Enable the timer .
//To turn off your sequence
DelaySeq1 = 65535; //This is the highest clock value
//See if time for next sequence
if(getClock(LastClockSeq1) > DelaySeq1){
LastClockSeq1 = getClock(0); //Reset Timer for next sequence
switch(Seq1){ //Choose next sequence
case 0:
// Put your code here
DelaySeq1 = 150; // set delay 50 = 1 second
Seq1 = 1; // Set Next Sequence to execute
break;
case 1:
Seq1 = 2; // Set Next Sequence
case 2:
Seq1 = 3; // Set Next Sequence
case 3:
DelaySeq1 = 250; // set delay 50 = 1 second
Seq1 = 4; // Set Next Sequence
case 4:
DelaySeq1 = DelayOff; // This stops the timer
Seq1 = 0; // Reset Sequence Number }

38. A feedback state machine code looks like this:
State machines

39. // To turn on the state machine then…
// Start Sequence
ArmSeq = 1;// Enable Sequence
Seq2 = 0; // Pick an initial condition movement
// To turn off the sequence
ArmSeq = 0; // Stop Sequence
//Check to see if the Arm Sequence is being used. If so then....
if (ArmSeq == 1){
// Check to see if at any limit switches. If so switch direction
if(getSwitch(0)==1){
Seq2 = 0; }
if(getSwitch(1)==1){
Seq2 = 1;
// Select the direction based on Sequence
switch(Seq2){
case 0: ArmMotor = 430;
break;
case 1: ArmMotor = 594;

40. Readjusting the drive joystick
When is forward not forward?
When you don’t use your BRAIN
Readjusting the drive joystick

41. Readjusting the drive joystick
Normally to drive forward you need the left motor and right motor at full power.
Readjusting the drive joystick

42. Readjusting the drive joystick
But this is not very intuitive.
There is a better way!
Readjusting the drive joystick

43. Readjusting the drive joystick
By creating a simple function that you call, it will adjust your steering for you.
You pass it the steer value (usually channel 0)
And the Speed Value (usually channel 1)
It will return to you the adjusted motor values for the right and left motors
Readjusting the drive joystick

44. Readjusting the drive joystick
void remapDrive(unsigned int steerValue, unsigned int speedValue,
unsigned int *rightMotor, unsigned int *leftMotor) {
int xInput, yInput; // declare some signed integers
int rightValue,leftValue;
xInput=steerValue-RCIDLEVAL; // grab the input values
yInput=speedValue-RCIDLEVAL; // and make into delta
leftValue=yInput+xInput; // combine the input to create
rightValue=yInput-xInput; // output delta values
// bound the delta values (remember RCIDLEVAL is half RCMAXVAL)
if (leftValue>RCIDLEVAL) leftValue=RCIDLEVAL; // becomes RCMAXVAL
if (leftValue<-RCIDLEVAL) leftValue=-RCIDLEVAL; // becomes zero
if (rightValue>RCIDLEVAL) rightValue=RCIDLEVAL;
if (rightValue<-RCIDLEVAL) rightValue=-RCIDLEVAL;
// output the values and include the idle offset
*leftMotor=leftValue+RCIDLEVAL;
*rightMotor=rightValue+RCIDLEVAL; }
Readjusting the drive joystick

45. What happens when my program does not operate correctly?
Debugging

46. Debugging This is called Debugging.
The BRAIN has 2 useful debugging tools.
The first are 8 LEDs that you can turn on with your program.
I will use this to help me determine where the program is going.
Debugging

47. Debugging Here is a sample code for turning LEDs on
setSingleLED(0); // Turn on 1st LED
setSingleLED(1); // Turn on 2nd LED
setSingleLED(2); // Turn on 3rd LED
setSingleLED(3); // Turn on 4th LED
setSingleLED(4); // Turn on 5th LED
setSingleLED(5); // Turn on 6th LED
setSingleLED(6); // Turn on 7th LED
setSingleLED(7); // Turn on 8th LED
writeLED(255); // Turn on all LEDs
Debugging

48. Debugging Here is a sample code for turning LEDs off
clearSingleLED(0); //Turn off 1st LED
clearSingleLED(1); //Turn off 2nd LED
clearSingleLED(2); //Turn off 3rd LED
clearSingleLED(3); //Turn off 4th LED
clearSingleLED(4); //Turn off 5th LED
clearSingleLED(5); //Turn off 6th LED
clearSingleLED(6); //Turn off 7th LED
clearSingleLED(7); //Turn off 8th LED
writeLED(0); //Turn off all LEDs
Debugging

49. Debugging: USB There is also a more advance debugging tool.
The BRAIN can display information on a PC.
You simply build up a “string” that you want to send to the PC then call the outHostsz procedure.
Debugging: USB

50. Debugging: USB // Declare 2 strings for your USB message
//buf1 is a temporary string for converting numbers
char buf1[10];
// outbuf is string to be transmitted to the host PC
char outbuf[70]; // max of 70 characters, or change num
// just after the main while(1) loop
// Clear out the display string before each loop
outbuf[0] = '\0';
// To add a message with out variables
strcat(outbuf,“My Message"); // Add words to message
// To add a variable Cell to the message
itoa(Cell,buf1); // Convert the var Cell to text
strcat(outbuf,buf1); // Add new text to buffer
Debugging: USB

51. //Lastly you need to send out your completed message
strcat(outbuf,"\r\n"); // add carriage return & line feed
outHostsz(outbuf); // send outbuf to the USB port
You will need a program on the PC to receive your message.
Have IAR workbench installed on the PC (included on DVD)
Use Realterm (included on your DVD)
Settings:
Display Tab
ansi
Port Tab
BAUD is 9600
Port is (that varies from computer to computer, Try the largest number you have listed)
OPEN button is pressed in
Pins Tab
DTR Press Clear Button
RTS Press Clear Button
Debugging: USB

52. Example Here is an example program that I came up with.
The program in its entirety will not be helpful to you, but some of the examples used may help you get started planning your own program.
Example

53. The start to every program you need to decide what you want it to do.
So let me outline what my program does.
The Right Joystick controls the drive motors
Note: I don’t have any drive motors hooked up
The Right Joystick controls the arm.
The left joystick was separated in to 9 sensitive areas
Example

54. I control the drive wheels
If the left stick is in the upper 3rd
Then the right stick is used for drive wheels
I control the drive wheels
Example

55. Example If the left joystick is in the Center 3rd
Then the right joystick up and down, controls the arm
I control the arm
Example

56. I control the arm with parabolic_scale
If the left stick is in the Bottom 3rd
Then the right up and down controls the arm with parabolic_scale
I control the arm with parabolic_scale
Example

57. Example If the stick is in the top right then…
Raise Red, Yellow, Green and Blue Flags
Example of a switch
Example

58. Example If the stick is in the top left then…
Lower Red, Yellow, Green and Blue Flags
Example of a Switch
Example

59. Example If the stick is in the center left then…
Start a timed state machine
First raise the Red flag then wait 3 seconds
Then raise the Yellow flag then wait 3 seconds
Then raise the Green flag then wait 3 seconds
Then raise the Blue flag then wait 5 seconds
Then lower all flags
Example of a timed state machine
Example

60. Example If the stick is in the Lower Left then…
Slowly rotate arm until limit switch
Change direction until limit switch
Repeat
Example of a State Machine with feedback
Example

61. Example If the stick is in the Lower Right then…
Stop the arm State Machine
Example

62. Look at the code
Look at the code

63. QUESTIONS?
What did we miss?