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This is like defining the "objects" in a program before you start creating instructions and methods. RobotC has two menu driven tools to accomplish this configuration. Click the "Motors" tab. Name the motors as shown below. Note that I used the name "Arm" for "motorA. Choose names that make sense for the robot's purpose. Click the "Sensors" tab. Make sure to select "Touch", "Reflected Light", and "Sonar.
Note that the first 7 lines of your program now contain auto generated code that configures the Hubs, Sensors, Motors, and Servos. The "pragma config" These define the robot objects in the program. Name it "IntroRobotC" Lesson 2: Start the motors 2. Wait for 2 seconds 3.
Stop the motors In your program - type the following code below the Configuration Code: To run your program: Make sure the robot is on. Here is a breakdown: Now try the following program "Out and Back" Lesson 3: Making methods One of the main goals of programming is to create re-usable pieces of directions that make sense to the human reading your Code, and save time and space not having to re-type long series of commands over and over again.
Thus we are going to start making a series of "Methods" that do common tasks. A "Method" is a block of instructions that you can call in the Main Task over and over again. We will make two methods: We use the term "void" before the Method because the method does not return a value. It only directions action. The "int power" is a parameter for the driveStraight method. This allows the programmer to define how much power will go to the motors.
The "int" means "integer. Note that the main task now uses three lines of code to do what took us 5 lines earlier. Negative numbers will make the motors turn backwards. Methods using Sensors and While Loops Up to now we have been creating linear sequential programs that only use motor output. The Sensors on the robot Touch, Light, and Sonar provide input and allow us to use some event driven programming.
We will use Sensors such as Touch, Light, and Sonar to help guide the robot through the world. These series of methods follow the same basic robot pattern: We use the parameter "int power" again to let the programmer define how fast the robot should go. The "while loop" tells the program to run the "driveStraight" method until the touch sensor is touched.
When the Touch sensor is pressed, stop the motors. In the "nearStop" method, note the two parameters: The Default distance for the Sonar is measured in centimeters. In the "darkStop" program the parameters "brightness" and "power" allow the user to specify the darkness the robot is looking for and the speed of the motors. The default range of values for the Light sensors ranges from 0 to We can also reduce the basic Forward for Time type program with this method.
Also included is a Method for Point Turns: More Advanced Programs - using variables and methods we have already created. The Nearest Object program. This example spins the robot around. While the robot is spinning, it is seeking out the nearest object using the UltraSonic Sensor. When it is finished spinning, it points back to the nearest object and travels up to the object and stops. Make the back up and then seek the next nearest object Note: Compare the Nearest Object program to this Java Example: Compare to this example in Python: Kp is the Constant of Proportion.
Multiply the "error" to increase the "sensitivity" of the Line follower. Where the robot will travel straight. Tp is the Constant for Power. This is the baseline power for the Left and Right wheels. Method for Line Following: Main Task for Line Following: