This document provides an introduction to programming in RobotC and includes instructions on installing RobotC, connecting Bluetooth, sample programs, functions, light sensors, line following, joysticks, and fixing joystick drift. It discusses getting started with RobotC by making a robot move forward for 2 seconds then stop. It also covers using functions, passing values to functions, checking light sensor values in a function, and basic joystick code to drive motors with joystick input.

1. Programming in RobotC Introduction to

2. Installing RobotC http://robotc.net/ 3.0 Mindstorms License ID: 60857910 Password: S9WY95

3. Setting Menu Level Open Up the Advanced Options

4. Connecting Bluetooth

5. Connecting Bluetooth

6. Connecting Bluetooth 1234

7. Connecting Bluetooth

8. Connecting Bluetooth

9. Sample Programs RobotC: File -> Open Sample Program Say Watt: http://github.com/SayWatt

10. First Program Let’s make the robot move! task main() { motor[leftMotor] = 100; motor[rightMotor] = 100; wait1Msec(2000); motor[leftMotor] = 0; motor[rightMotor] = 0; }

11. task main() { Tells RobotC: Start Here!

12. motor[leftMotor] = 100;motor[rightMotor] = 100; Make leftMotor and rightMotor go forward at full speed.

13. wait1Msec(2000); Wait 2000 milliseconds. (2 seconds)

14. motor[leftMotor] = 0;motor[rightMotor] = 0; Make leftMotor and rightMotor stop.

15. } Tells RobotC: We’re done.

16. Up Next: Touch Sensor task main() { motor[leftMotor] = 100; motor[rightMotor] = 100; while(SensorValue(touch) != 1) { wait1Msec(50); } motor[leftMotor] = 0; motor[rightMotor] = 0; }

17. while(SensorValue(touch) != 1) { Checks this “Keep looping through this until the value of ‘touch’ equals 1.”

18. What’s Next? Try to make these changes: Move backwards for 2 sec. after the button is pressed. Try turning around and going the other way.

19. Light Sensor task main() { motor[leftMotor] = 100; motor[rightMotor] = 100; while(SensorValue(light) <= 45) { wait1Msec(50); } motor[leftMotor] = 0; motor[rightMotor] = 0; }

20. Functions

21. Basic Functions void startMotors() { motor[leftMotor] = 100; motor[rightMotor] = 100; } void stopMotors() { motor[leftMotor] = 0; motor[rightMotor] = 0; }

22. Passing Values void setMotors(int speed) { motor[leftMotor] = speed; motor[rightMotor] = speed; } Examples: or setMotors(100); setMotors(0);

23. Light Sensor Function True / False boolcheckLightSensor() { if(SensorValue(light) <= 45) { return true; }else { return false; } }

24. Line Following Use the light sensor to follow a white line.

25. Joysticks

26. 3.00 Joystick Bug Open the JoystickDriver.c Change line 123 to: const intkMaxSizeOfMessage = 19;

27. Analog Sticks joystick.joy1_y1; joystick.joy1_x1; joystick.joy1_y2; …..

28. Buttons Returns a bool. joy1Btn(1); joy1Btn(2); …

29. Basic Joystick Code task main() { while(true) { getJoystickSettings(joystick); motor[leftMotor] = joystick.joy1_y1; motor[rightMotor] = joystick.joy1_y2; wait1Msec(20); } }

30. “Joystick Drift”

31. Fixing Drift intleftMotorValue = joystick.joy1_y1; intrightMotorValue = joystick.joy1_y2; if(abs(leftMotorValue) < 20) { leftMotorValue = 0; } if(abs(rightMotorValue) < 20) { rightMotorValue = 0; }

32. Wait For Start

33. Wait For Start