EasyC Programming EasyC Programming Workshop Workshop

January 30, 2008Hauppauge High School

SPBLI - FIRST

Mark McLeodMark McLeodAdvisorAdvisor

Hauppauge Team 358Hauppauge Team 358Northrop Grumman Corp.Northrop Grumman Corp.Mark.McLeod@ngc.comMark.McLeod@ngc.com

AgendaAgenda

FIRST Control SystemFIRST Control System C BasicsC Basics EasyC EnvironmentEasyC Environment EasyC BasicsEasyC Basics

– Robot Driver ControlRobot Driver Control Demonstration of Basic OI Controls Demonstration of Basic OI Controls

– Robot Autonomous ControlRobot Autonomous Control Demonstration of Dead ReckoningDemonstration of Dead Reckoning

FIRST Control SystemFIRST Control System

solenoid motor

FIRST Control ElementsFIRST Control Elements

HardwareHardware– Robot Controller (RC)Robot Controller (RC)

User Processor vs. Master ProcessorUser Processor vs. Master Processor PWM, Relay, Digital I/O, Analog, Misc.PWM, Relay, Digital I/O, Analog, Misc.

– Operator Interface (OI)Operator Interface (OI)– Tether cable / Programming cableTether cable / Programming cable– LaptopLaptop

ProgrammingProgramming– C Language BasedC Language Based– Application Programmer Interface (API)Application Programmer Interface (API)– Dashboard (optional)Dashboard (optional)

Robot Controller Robot Controller ArchitectureArchitecture User ProcessorUser Processor

– What we download toWhat we download to– Runs our codeRuns our code– Reads the digital/analog I/O directlyReads the digital/analog I/O directly

Master ProcessorMaster Processor– Controls Disable/Autonomous/Driver modesControls Disable/Autonomous/Driver modes– Disables OI inputs & most RC outputsDisables OI inputs & most RC outputs– Must hear from User periodically or shuts it downMust hear from User periodically or shuts it down– Master Code Software is updated each yearMaster Code Software is updated each year

Robot Controller I/ORobot Controller I/O

Banner Sensor

Touch Sensor

Switch

Gyroscope

CameraLimit Switch

Analog Rangefinder

Encoder

Potentiometer

Pressure Sensor

Servo

Solenoid Compressor

Analog

Digital

Motors

Relays

TeamLEDs

TTL

Getting StartedGetting Started

TutorialsTutorials– Help -> TutorialsHelp -> Tutorials

Create/Open an EasyC ProjectCreate/Open an EasyC Project– New Competition TemplateNew Competition Template– Controller ConfigurationController Configuration

Drag & Drop EditingDrag & Drop Editing Build & DownloadBuild & Download

– Loader Setup to select serial/USB portLoader Setup to select serial/USB port– Online Window to test & check RC Online Window to test & check RC

config.config.

.hex file

Robot Controller

Operator Interface

Dashboard (optional)

MechanicsMechanics

Prog Button

Build & Download

ProjectProject

Controller ConfigurationController Configuration– Set Digital as input or outputSet Digital as input or output

Function BlocksFunction Blocks

Add VariablesAdd Variables Inputs – Digital & Analog I/OInputs – Digital & Analog I/O Outputs – PWM, RelayOutputs – PWM, Relay Program Flow – C statementsProgram Flow – C statements RC Control – Drive style (tank, arcade)RC Control – Drive style (tank, arcade) CameraCamera Control – Know status (disable, auto)Control – Know status (disable, auto) User Functions (Initialize, Auto, User Functions (Initialize, Auto,

Operator)Operator)

Simple Operator ModeSimple Operator Mode

While (1) { // From “Program Flow – While”

Tank4(1,2,2,2,1,3,2,4,0,1,0,1);

// From “RC Control – Tank – 4 motor”

}

More Complex More Complex Operator ModeOperator Modeunsigned char LeftJoystick; // Double click “Variables”

while (1) {

LeftJoystick = GetOIAInput(1,2); // From “RC Control”

if(LeftJoystick > 137 || LeftJoystick < 117) // From “Program Flow”

{

SetPWM(1, LeftJoystick); // From “Outputs”

}

else

{

SetPWM(1, 127);

}

}

Simple AutonomousSimple Autonomous

SetPWM(1,200); // From “Outputs”

SetPWM(2,55);

Wait(10000); // From “Program Flow” (10 secs in milliseconds)

SetPWM(1,127); //Be sure to stop the robot at the end

SetPWM(2,127);

Sample IR Sensor UseSample IR Sensor Use

While(1) { if (GetDigitalInput(1) == 1) {

SetOILED(1,1); //Turn 1st OI light onSetOILED(3,0); //Turn other OI lights offSetOILED(5,0);SetOILED(7,0);

SetPWM(1,200); //Drive the robotSetPWM(2,55);

} if (GetDigitalInput(2) == 1) {

SetOILED(1,0); //Turn other OI lights offSetOILED(3,1); //Turn 2nd OI light on

SetOILED(5,0); SetOILED(7,0);

SetPWM(1,127); //Stop the robotSetPWM(2,127);

}}

More InformationMore Information

Presentation slides at: Presentation slides at:

Team358.orgTeam358.org

Questions/Help please email us. Questions/Help please email us.

Mark.McLeod@ngc.comMark.McLeod@ngc.com