1. Coding for the FIRST Tech Challenge: RobotC
Presented by:
Team Unlimited FTC 0001

2. Presentation Overview
Why RobotC?
Where to Download
Coding Basics
RobotC Overview & Basics
Sample code
References
Q & A
More Code
RobotC

3. Why RobotC? Speed Control Personal Preference
RobotC runs quicker on the NXT
Differences in speed are small until larger code is written
Control
In RobotC you have control over almost everything
Real Time Debugger to allow viewing of code line by line while running
Personal Preference
Text base control
Advanced math functions
Team Decision
RobotC

4. Downloading
RobotC can be downloaded from robotc.net/ftc
RobotC

5. Hardware Review Servo Can only go 180 degrees
In code, it is from 0 to 255
DC Motor
Continuous
Controlled by power rather than degree (+100 forward to -100 backward)
180°
255
RobotC

6. Plan the Code Get a diagram of the field
Draw the general routine w/ arrows and numbers
Make side notes noting what happens at each time interval
Start your first draft of the code
RobotC

7. Coding Basics Comments: Example: “//” is used as a line comment
“/*” is the beginning of a group comment
“*/” ends a group comment
Comments never affect the function of code
Always comment code so your team members understand it!
Example:
RobotC

8. Dead Reckoning vs. Sensing
A prewritten routine
Code flows A to B to C
If interrupted, will only try to continue
Easier to write
Sensing
Routine that can adapt
Code flows, but can respond
If interrupted, can attempt to correct
More complicated
RobotC

9. Time vs. Rotations Time Rotations Dependant on battery life
Useful for squaring on a wall
Can be imprecise
Used often for manipulators
Rotations
Independent of battery life
Useful for replicating a routine repeatedly
Very precise, always the same rotations
Used often for movement
RobotC

10. Reacting to the Environment
Sense the world and react to it
Touch switch is pressed, against something
Ultrasonic rapidly changes, something crossed paths
Light sensor spikes, on a line or off a line
Useful to be able to change course
Code “thinks” for itself
Only as smart as YOU code it!
RobotC

11. Flow of the Code Flow from place to place Make things easy to fix
DON’T JUMP ALL OVER THE PLACE!
Structure the code ahead of time, plan it out
Make things easy to fix
Make your code neat and clean
Plan the code out ahead of time
Don’t haphazardly place code in
Order your code
Do you want an interrupt?
Is there an importance to the steps?
RobotC

12. Commenting Use comments to remind yourself
Often you will forget why something is in the code
Explains to the JUDGES what you were thinking
Allows for easy corrections
Write complete thoughts
“Checks for a touch sensor being pressed, if not, continue”
Use them LIBERALLY
RobotC

13. RobotC Home Screen
RobotC

14. RobotC Basics Make sure you are on version 3.00
If not, uninstall RobotC COMPLETELY before installing the newest version
Use the Sample codes included in RobotC
Access by File > Open Sample Programs
Save RobotC files in separate location on Hard Drive
Download and watch coding presentations at Robotics Academy
RobotC

15. Starting up RobotC Open RobotC
Change Menu Level to Expert (for FTC purposes)
Window > Menu Level > Expert
Change Platform to FTC
Robot > Platform Type > FIRST Tech Challenge (NXT)
Close RobotC and Reopen
Open a blank file
File > New
Ctrl + N
Download Firmware to NXT
Robot > Download Firmware (more to come later)
Rename NXT
RobotC

16. Connect NXT
RobotC

17. Select NXT Brick
RobotC

18. Selecting the Firmware
RobotC

19. Download and Complete Make sure this message appears before exiting
RobotC

20. Rename NXT
RobotC

21. Name Your NXT Type in the name for your NXT (default is NXT)
Recommended name is your team number to four digits (i.e FTC #0001 is 0001
If you have more than one NXT, place an A, B, etc. after the number
RobotC

22. Connecting to Bluetooth
1. Go to Robot > NXT Brick > Link Setup
RobotC

23. Connecting to Bluetooth
2. Make sure that this box is checked to perform a bluetooth search
2. Select here to make a pair between the NXT and your laptop
RobotC

24. Bluetooth at the Competition
Take from the Field Preparation Guide (you can find it here)
Remember to always do these steps at the Playing Field
RobotC

25. Bluetooth at the Competition
RobotC

26. RobotC Menu Compile and Download Compile Program Debugger
Compiles and downloads
Compile Program
Compiles locally
Debugger
Scans code for errors
Motor & Sensor Setup
Set up Motor and Sensors
Download firmware
Download firmware to NXT
RobotC

27. RobotC Menu Link Setup Poll Brick File Management Joystick Control
Used to establish a link between NXT and Computer
Poll Brick
“Online Window”
File Management
Manage files on the NXT
Joystick Control
“FTC Controller Station”
RobotC

28. RobotC Debugger Allows for program control wirelessly
Allows to view where the code is currently
Allows to view errors in your code while running
RobotC

29. RobotC Debugger Buttons
Start/Stop – Starts or Aborts Program
Suspend – Pauses code
Step Into – Pauses code and proceeds to next line
Step Over – Pauses code and skips over next procedure
Step Out - Pauses code and exits procedure
Clear All – Resets all values to default
Refresh Rate
Once – Refreshes values manually
Continuous/Stop – Switch between continuous and stop updating
RobotC

30. RobotC Debugger Joystick Control
“FTC Controller Station”
Allows control over Teleoperator and Autonomous
Views controller data
RobotC

31. RobotC “Loops” While statement If statement Else statement
Performs code as long as the statement is true
I.e. while (ServoValue[Servo1] < 255)
If statement
Performs entirety of code if statement is true
I.e. if (sensorValue[Touch] == 0)
Else statement
Performs entirety of code if “If Statement” is false
i.e. else
RobotC

32. RobotC Punctuation Brackets { } Semicolons ; Square Brackets [ ]
Used to control flow of code
Semicolons ;
Used after lines to denote an end
Square Brackets [ ]
Used for sensors and motor declarations
Parenthesis ()
Used for time and math functions
RobotC

33. RobotC Operators == (test a condition) = (equals)
i.e. while (sensorValue[Touch] == 0)
= (equals)
i.e. motor[motorD] = 0;
< , > (less than, greater than)
i.e. if ( -10 < joystick.joy1_y1 < 10 )
|| (or)
i.e. if ( joy1Btn(1) || joystick.joy2_TopHat == 0 )
RobotC

34. RobotC Commenting // TEXT /* TEXT */ /*
Comments out a single line of text
/* TEXT */
Comments out all text within the /* and */ /*
Comments out all text after
RobotC

35. RobotC Simple Program
RobotC

36. Sample Code FTC Template Joystick Control DC Drive Motor sample
NXT Motor sample
Servo sample
Touch Sensor sample
Light Sensor sample
Ultrasonic Sensor sample
Compass Sensor sample
RobotC

37. Using FTC Templates
Using the Template (take from here)
RobotC

38. Using FTC Templates
RobotC

39. Using FTC Templates
RobotC

40. Teleop Template
RobotC

41. Autonomous Template
RobotC

42. Joystick Control Sample
RobotC

43. DC Motor Sample
RobotC

44. NXT Motor Sample
RobotC

45. Servo Sample
RobotC

46. Touch Center Sample
RobotC

47. Light Sensor Sample
RobotC

48. Light Sensor Sample
RobotC

49. Ultrasonic Sensor Sample
RobotC

50. Compass Sensor Sample
RobotC

51. Field Diagram
RobotC

52. RobotC Resources RobotC RobotC Forums Robotics Academy
FTC Function Guide (From Robotics Academy)
Setting up Dual Template Mode
Field Procedures for Bluetooth
Software Information (Links at our website)
Code and Software Presentation
RobotC

53. RobotC Resources RobotC Sample code
Program files > Robotics Academy > RobotC for Mindstorms > Sample Programs > NXT
File > Open Sample Programs (if RobotC is open)
RobotC

54. Coding for the FIRST Tech Challenge: RobotC
Questions?
unlimited.syraweb.org