1. Chung for Robofest 05 1 Introduction to RoboLab CJ Chung Lawrence Technological University

2. Chung for Robofest 05 2 What Is RoboLab? A Graphical programming language For the RCX based on LabVIEW In 1997, LabView was used for Sojourner project By designing a flow chart with given icons the programmer can program the RCX

3. Chung for Robofest 05 3 Pros to Using RoboLab Easy to see control structure Visual interface is simple Exactly like LabVIEW Data gathering and visualization (investigator)

4. Chung for Robofest 05 4 Cons to Using RoboLab Spaghetti code Hard to wire icons… No edge triggering supported. See Line Counter program in this slide

5. Chung for Robofest 05 5 For More Information Legos Page www.lego.com/dacta/robolab National Instruments Page www.ni.com/robolab Tufts University www.ceeo.tufts.edu/graphics/robolab www.lego.com/education/mindstorms/im ages/eng/downloads/compare.doc

6. Chung for Robofest 05 6 Before Getting Started Programming RCX Firmware Download: Administrator

7. Chung for Robofest 05 7 Investigator for data gathering and visualization

8. Chung for Robofest 05 8 Getting Started Programmer | double click Inventor Level 4

9. Chung for Robofest 05 9 RoboLab Class Mission 1: To drive using a Timer Go straight for 2.5 seconds and stop

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11. Chung for Robofest 05 11 Save the file!

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13. Chung for Robofest 05 13 Just click Broken arrow

14. Chung for Robofest 05 14 Modifiers

15. Chung for Robofest 05 15 Context Help Just point an icon in question

16. Chung for Robofest 05 16 To replace an icon Use right click and replace (for Macs, use the Apple key)

17. Chung for Robofest 05 17 Windows| Show Tools Palette The space bar The tab key

18. Chung for Robofest 05 18 Tips How to insert icons? How delete icons? Cover the tower and RCX when downloading, if more than one robot in a room! Use Meaningful file names Add Comments using A: edit text

19. Chung for Robofest 05 19 RoboLab Mission 2: Bumper Car Goes straight and stops when the bumper is hit or Turn motors A and B; turn off motors A and B, when a touch sensor is pressed

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21. Chung for Robofest 05 21 What is wrong?

22. Chung for Robofest 05 22 RoboLab Mission 3: Board Edge Detection Robot must stop when it detects the edge of the white board Testing Light Sensors Use Black View Button to read data from the light sensor

23. Chung for Robofest 05 23 Darker than 40 Brighter than 50

24. Chung for Robofest 05 24 RoboLab Mission 4: Making Turns Go straight for 2.5 seconds and turn right 90 degrees and go straight for 2 seconds and stop Is it easy to make 90 degree turns? Mark the stop location and rerun Does it stop at the same point? Why not? How do we make our robots go straight? Very important for many missions

25. Chung for Robofest 05 25 Tips: Making Right Turns stop Method 1: Left motorRight motor Method 2: Left motorRight motor

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27. Chung for Robofest 05 27 Using a Rotation Sensor in RoboLab Finding a good pair of motors using RoboLab Use Black View Button to read data from the rotation sensor

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29. Chung for Robofest 05 29 RoboLab Control Structures Sequence Loop: Decision: Fork Subroutines: Multitasking:

30. Chung for Robofest 05 30 Loop with a counter

31. Chung for Robofest 05 31 Loop while touch sensor is released

32. Chung for Robofest 05 32 Mission 5: Detect Light and Beep When the light sensor detects a bright light source, beep Repeat until a touch sensor is pressed

33. Chung for Robofest 05 33 A loop inside a loop?

34. Chung for Robofest 05 34 Decision - Fork

35. Chung for Robofest 05 35 Mission 6: Line Following (Zigzag method) Do forever until touch sensor is pressed: If it sees black, turn right If it sees white, turn left Which side of the line does this follow?

36. Chung for Robofest 05 36 How to follow a line using one Light Sensor? - Zigzag methods

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38. Chung for Robofest 05 38 Subroutine – a set of commands Create Subroutine No. n: Run subroutine n: nn

39. Chung for Robofest 05 39 Subroutine Example

40. Chung for Robofest 05 40 Mission 7: Line Following Until the edge of the board Do forever until light sensor detects the edge of the board: If it sees black, turn right If it sees white, turn left

41. Chung for Robofest 05 41 RCX Communications - Send

42. Chung for Robofest 05 42 RCX Communications - Receive

43. Chung for Robofest 05 43 Containers to store values Loop while container value is less than…

44. Chung for Robofest 05 44 Mission 8: Line Counter Go forward Count each line as the robot crosses it When the robot detects the 4th line, stop. Uses a Container to count number of lines

45. Chung for Robofest 05 45 Line Counter Solution Using RoverBot Style Gearing Wait for Dark If no time to skip black line, a line can be counted more than once. Wait for Dark Cf. RCX code, Wait Until, provides Edge Triggering

46. Chung for Robofest 05 46 Sensor Stacking Stack touch sensor on top of light sensor Both Sensors must be thought of as light sensors. Pressing the touch sensor will always read 100. When the touch sensor is not pressed the value for the light sensor will be read.

47. Chung for Robofest 05 47 Mission 9: Line following until stacked touch sensor is pressed

48. Chung for Robofest 05 48 Multitasking

49. Chung for Robofest 05 49 How to upload to different program slots Select the slot number by pressing the gray Pgm button on the RCX Click the (run) button