1. Programming Autonomy
By Joshua Shaw

2. Autonomy Many of todays robots operate independent of an operator
This PowerPoint is optional for the BEST Robotics Competition
However, adding autonomy to the robot can simply tasks for the driver

3. Beginning an Autonomous Program
Open EasyC
Click on New Standalone Project

4. Beginning an Autonomous Program cont’d
Select Joystick Project (WIFI)
Click OK

5. Variables An autonomous program requires variables to operate
To create a variable double click on variable in the program
The Local Variable dialog box will appear

6. Variables Cont’d Click on the box under the header Type
Select int from the dropdown menu
This creates an integer variable
Give the variable a name under Name
This example uses ButtonControl
Set value to 0

7. Create another Variable
Repeat the previous slide for a new variable
Use the name ServoControl
Click OK

8. Create a While Loop
Then click and drag While Loop from the list and place it on the vertical line between Variable box and End box.
At this point a dialog box appears
Type a true expression such as (3>2)
Click OK

9. Get information from a button on the controller
Drag and Drop Get Joystick Digital into the While Loop
The Get Joystick Digital dialog box will appear

10. Get information from a button on the controller cont’d
Click the drop down menu for Retrieve to
Select ButtonControl
Click OK

11. Adding an If Statement
Drag and drop if from the Program Flow block under Get Joystick Digital statement
The if dialog box will appear

12. Adding an If Statement cont’d
For this example type
ButtonControl == 1 && ServoControl <= 124
If the button is pressed and if ServoControl value is less than or equal to 124.
Than the program will do what ever we put into the If Statement
Click OK

13. Adding an Assignment
Now Drag and Drop an Assignment from Program Flow into the If statement
The Assignment Dialog Box will come up.

14. Adding an Assignment Cont’d
Here we will change the ServoControl value
For this example type ServoControl = ServoControl + 4
Click OK

15. Add another Get Joystick Digital
Drag and Drop Get Joystick Digital into the While Loop under the if statement
The Get Joystick Digital dialog box will appear

16. Add another Get Joystick Digital Cont’d
Choose 2 for the Button # dropdown menu
Select ButtonControl from the Retrieve to dropdown menu
Click OK

17. Add Another If Statment
Add Another If Statement under Get Joystick Digital

18. Adding an If Statement cont’d
For this example type ButtonControl == 1 && ServoControl >= -124
If the button is pressed and if ServoControl value is greater than or equal to 124.
Click Ok

19. Adding another Assignment
Drag and Drop an Assignment into the new If statement
The Assignment Dialog Box will come up

20. Adding another Assignment cont’d
Here we will change the ServoControl value
For this example type ServoControl = ServoControl - 4
Click OK

21. Adding a Servo Module Now open the + for Output
Drag and Drop Servo Module under the second If Statement
The Servo Module dialog box will appear

22. Adding a Servo Module cont’d
Select the Motor Number which the servo will be put into
In this example use 2
Remember 1 and 10 can not be used

23. Adding a Servo Module cont’d
Select the circle User Value
Select ServoControl under the drop down menu
Click OK

24. The Program thus Far
If we put this program on the Cortex the servo would almost immediately set to one side and stay there
This makes it difficult to operate the program

25. Wait… no really a wait statement
A Wait statement will allow the driver to react to the servo
Go to Program Flow
Drag and Drop Wait into the While Loop above the first ButtonControl
The Wait Dialog Box will appear

26. Wait Dialog Box
Right now the program is being told to wait milliseconds (ms) or 1 second
This is long enough to fix our initial problem, but it is a bit too long to wait

27. Wait Dialog Box cont’d
The average reaction time for a human (visually) is around seconds (250 ms)
For our example set the number to 300 (300 ms)
This will give the driver time to react and not have to wait to long
Click OK

28. The Program The program should look like this
You can modify this program to add autonomy to your robot

29. Build and Download
Build and Download the program to the cortex and try it out
The servo should look like it is ticking from one position to another