2. How to Program the 2004 Robot Controller from Innovation First For new C programmers and non- technical types

3. Topics CMU Robot Builder Review What’s New in 2004? C Concepts Default Code Explained Modifying the Default Code Advanced Topics

4. From EDU and CMU to FRC You may already know everything you need!

5. EDU RC vs. FRC Have you already practiced programming the 2004 EDU Robot Controller? The process is nearly identical! Only differences are: –FRC has more and different I/O –FRC works with IFI radio modems and Operator Interface (just like last year)

6. Carnegie-Mellon’s “Robot Builder” The basic process of programming your EDU RC was covered in CMU’s tutorial called “Robot Builder”. It’s on the web at: http://www.rec.ri.cmu.edu/ed ucation/edubot/2004_conten t/index.htm and also included on a CD-ROM in your 2004 FIRST kits. http://www.rec.ri.cmu.edu/ed ucation/edubot/2004_conten t/index.htm

7. Quick Review: Getting Started IMPORTANT: Download the instructions ( Microchip C-Bot Installation Guide ) from IFI’s website. While you’re there, get the FRC RC Default Code. Be sure to unZip it after downloading. Put it in your c:\mcc18\ directory. There is also a newer version of IFI Loader than the one on the C-Bot CD. Download and install it. (Make sure you un-install any previous versions that you have!) http://www.innovationfirst.com/ firstrobotics/documentation.htm

8. Quick Review: Install C-Bot Follow instructions from IFI! Use C-Bot CD to install: –Step 1: MPLAB IDE –Step 2: C18 Compiler Skip Step 3 and install newer version of IFI Loader from web site.

9. Quick Review: Write and compile your code Start MPLAB IDE File -> Open Workspace… Select the.mcw file from the Default Code you downloaded. Double-click user_routines.c in project window. Scroll down and edit Default_Routine(). Project -> Make Verify BUILD SUCCEEDED

10. Quick and Dirty Code Modification pwm01 = p1_y; pwm02 = p2_y; pwm03 = p3_y; pwm04 = p4_y; pwm05 = p1_x; pwm06 = p2_x; pwm07 = p3_x; pwm08 = p4_x; pwm09 = p1_wheel; pwm10 = p2_wheel; pwm11 = p3_wheel; pwm12 = p4_wheel; OUTPUTS INPUTS pwm01 = p1_y; pwm02 = p1_x; pwm03 = p3_y; pwm04 = p4_y; pwm05 = p1_x; pwm06 = p2_x; pwm07 = p3_x; pwm08 = p4_x; pwm09 = p1_wheel; pwm10 = p2_wheel; pwm11 = p3_wheel; pwm12 = p4_wheel; pwm01 = p1_y; pwm02 = 255 - p1_x; pwm03 = p3_y; pwm04 = p4_y; pwm05 = p1_x; pwm06 = p2_x; pwm07 = p3_x; pwm08 = p4_x; pwm09 = p1_wheel; pwm10 = p2_wheel; pwm11 = p3_wheel; pwm12 = p4_wheel;

11. Quick Review: Download code to your Robot Controller Power up RC Connect serial cable from PC to PROGRAM port. Start IFI_Loader. Select appropriate COM port. “Browse” to find the.hex file you just compiled. Click DOWNLOAD.

12. Summary of Programming Process Download docs, code, and app from innovationfirst.com Install apps from C-Bot CD. Run MPLAB, edit code, and compile it. Run IFI Loader to transfer.hex file to your FRC