NQC / BricxCC Brief Introduction David Schilling.

NQC / BricxCC

Brief Introduction

David Schilling

BricxCC

Graphical user interface to programming your RCX

BricxCC

EditorSyntax highlightingProgramming helpsCommunication with RCX

F1 – Help

F1 – Help

Templates

Templates

Just click on a command in the template and the function is inserted into the editor with hints for its parametersPress F10 to go to the next one

Communicating with the RCX

NQC

Programming language with C-like syntaxUses Lego’s RCX firmware

Program skeleton

task main() { // your program goes here }

Defining Sensors

SetSensor( SENSOR_1, SENSOR_TOUCH );

SENSOR_TOUCHSENSOR_LIGHTSENSOR_ROTATION

(plus a few rarely used others)

Getting a Sensor’s value

First define a variable

int x;

Then assign the value to that variable

x = SENSOR_1;

Testing a Sensor’s value

Alternatively you can just use the sensor value in an expression

if( SENSOR_1 > 50 ) { }

Sensor Ranges

Sensor type Range

SENSOR_TOUCH true / false

SENSOR_LIGHT0-100 advertised45-70 is normal

SENSOR_ROTATION any integer value

Using Names for Sensors

Early in your program define a nameUse that name instead of the sensor #

Benefits can easily move sensor to a different

port by only making one change code becomes more self-explanatory

Sensor Naming example

#define Bumper SENSOR_1#define Edge SENSOR_2

task main() { SetSensor( Bumper, SENSOR_TOUCH

); SetSensor( Edge, SENSOR_LIGHT ); }

Using Raw Values

With “SetSensor”, The light sensor range(a ‘percentage’ from 0 to 100) is very limitedUsually you’ll only get a value from around45 to 70 or soTo get a greater range, use SetSensorType and SetSensorMode

SetSensorType(SENSOR_1, SENSOR_TYPE_LIGHT );SetSensorMode(SENSOR_1, SENSOR_MODE_RAW );

Raw Sensor Values

The range changes to something like 600 – 800

However, light and dark are reversed: A dark reading of 40 becomes 800 A light reading of 70 becomes 600

Motors

Default names for motors are OUT_A, OUT_B and OUT_CMotor state can be ON, OFF, or FLOATMotor direction and power can be setJust like with sensors, I recommend giving motors names

Motor Commands

You can just use motors (since all motors are identical to the RCX there is no need to define them like sensors)

eg: On( OUT_A );You can combine multiple motors in a command by using the “+” sign

eg: Off( OUT_A+OUT_C );

Motor Commands

Common Commands: On(); Off(); Float(); SetPower(); Fwd(); Rev(); SetDirection(); OnFwd(); OnRev(); OnFor();

Motor States

The following functions just take one or more motors as an argument: On(); - Turns motor on Off(); - Brakes motor Float(); - Lets motor float

Motor Power

To set a motor’s power level use SetPower( OUT_A, OUT_FULL );

The first argument is one or more motorsThe second argument is the power level OUT_LOW, OUT_HALF, OUT_FULL or 0 to 7

Motor Direction

To set a motor’s direction use SetDirection( OUT_A, OUT_FWD );

The first argument is one or more motorsThe second argument is the direction OUT_FWD, or OUT_REV

Motor Direction

A simpler way to set a motor’s direction is to use:

Fwd( OUT_A ); or Rev( OUT_A );

These work the same as SetDirection();You can also use Toggle( OUT_A ); to change the motor’s direction

Changing a Motor’s Orientation

You can rotate the wire 180 degreesYou can change every line in your program that references a motor, orYou can use SetGlobalDirection();

If your motor goes forward when you want it to go reverse, and vice versa, there are a couple of solutions:

SetGlobalDirection();

SetGlobalDirection( OUT_A, OUT_REV );

This command will change a motor’s direction from now on, so that “FWD” means “REV” and vice versa“OUT_FWD” as the second argument restores a motor back to normalThis is a very clean way to write your programs: “FWD” means forward

Motor Example#define Left OUT_A#define Right OUT_C

task main() { SetPower( Left+Right, OUT_FULL ); SetDirection( Left+Right, OUT_FWD ); On( Left+Right ); Wait( 100 ); }

Simple Sumo demo program

(This is a terrible program! I’m just using it to illustrate the concepts covered in this presentation)

// Simple Sumo demo program

#define Bumper SENSOR_1

#define Edge SENSOR_2

#define Left OUT_A

#define Right OUT_C

#define Both OUT_A+OUT_C

Naming sensors and motors

SetSensor( Bumper, SENSOR_TOUCH);

SetSensorType( Edge, SENSOR_TYPE_LIGHT );

SetSensorMode( Edge, SENSOR_MODE_RAW );

SetGlobalDirection( Left, OUT_REV );

SetPower( Both, OUT_HALF );

SetDirection( Both, OUT_FWD );

Setting up sensors and motors

Program loop On( Both );

while( true )

{

if( Bumper )

SetPower( Both, OUT_FULL );

else


if( Edge > 750 ) // at edge

{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

Complete Program...




#define Left OUT_A

#define Right OUT_C


task main()

{




#define Left OUT_A

#define Right OUT_C


task main()

{




#define Left OUT_A

#define Right OUT_C


task main()

{




#define Left OUT_A

#define Right OUT_C


task main()

{




#define Left OUT_A

#define Right OUT_C


task main()

{





#define Right OUT_C


task main()

{






task main()

{






task main()

{







task main()

{







{







On( Both );







On( Both );

while( true )






On( Both );

while( true )

{






On( Both );

while( true )

{

if( Bumper )





On( Both );

while( true )

{

if( Bumper )





On( Both );

while( true )

{

if( Bumper )


else




On( Both );

while( true )

{

if( Bumper )


else




On( Both );

while( true )

{

if( Bumper )


else





On( Both );

while( true )

{

if( Bumper )


else



{


On( Both );

while( true )

{

if( Bumper )


else



{

Rev( Both );

On( Both );

while( true )

{

if( Bumper )


else



{

Rev( Both );

Wait( 100 );

On( Both );

while( true )

{

if( Bumper )


else



{

Rev( Both );

Wait( 100 );

Fwd( Left );

while( true )

{

if( Bumper )


else



{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

{

if( Bumper )


else



{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

if( Bumper )


else



{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}


else



{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

else



{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}



{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}


{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}

{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}




#define Left OUT_A

#define Right OUT_C


task main()

{







On( Both );

while( true )

{

if( Bumper )


else



{

Rev( Both );

Wait( 100 );

Fwd( Left );

Wait( 200 );

Fwd( Right );

}

}

}

Date post:	29-Jan-2016
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NQC / BricxCC Brief Introduction David Schilling.

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