Chung for Robofest 05 1 Introduction to RoboLab CJ Chung Lawrence Technological University.

Chung for Robofest 05

1

Introduction to RoboLab

CJ ChungLawrence Technological

University


2

What Is RoboLab?

• A ‘Graphical’ programming language For the RCX based on LabVIEW

• In 1997, LabView was used for Sojourner project

• By designing a flow chart with given icons the programmer can program the RCX


3

Pros to Using RoboLab

• Easy to see control structure• Visual interface is simple• Exactly like LabVIEW• Data gathering and visualization

(investigator)


4

Cons to Using RoboLab

• Spaghetti code• Hard to wire icons…

• No edge triggering supported. See Line Counter program in this slide


5

For More Information

• Lego’s Pagewww.lego.com/dacta/robolab

• National Instruments Pagewww.ni.com/robolab

• Tufts Universitywww.ceeo.tufts.edu/graphics/robolab

• www.lego.com/education/mindstorms/images/eng/downloads/compare.doc


6

Before Getting Started Programming

RCX Firmware Download: Administrator


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“Investigator” for data gathering and visualization


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Getting Started

Programmer | double click “Inventor Level 4”


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RoboLab Class Mission 1: To drive using a Timer• “Go straight for 2.5 seconds and

stop”


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Save the file!


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Just clickBroken arrow


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Modifiers


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Context Help• Just point an icon in question


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To replace an icon• Use right click and replace (for

Macs, use the Apple key)


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Windows| Show Tools Palette• The space bar • The tab key


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Tips• How to insert icons?• How delete icons?

• Cover the tower and RCX when downloading, if more than one robot in a room!

• Use Meaningful file names• Add Comments using “A: edit text”


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RoboLab Mission 2: Bumper Car• Goes straight and stops when the

bumper is hit or• Turn motors A and B; turn off motors

A and B, when a touch sensor is pressed


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What is wrong?


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RoboLab Mission 3: Board Edge Detection• Robot must stop when it detects the

edge of the white board• Testing Light Sensors• Use Black ‘View’ Button to read data

from the light sensor


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Darker than 40

Brighter than 50


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RoboLab Mission 4: Making Turns• Go straight for 2.5 seconds and turn

right 90 degrees and go straight for 2 seconds and stop

• Is it easy to make 90 degree turns?• Mark the stop location and rerun• Does it stop at the same point?• Why not?• How do we make our robots go straight?• Very important for many missions


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Tips: Making Right Turns

stop

Method 1:

Left motor Right motor

Method 2:

Left motor Right motor


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Using a Rotation Sensor in RoboLab• Finding a good pair of motors using

RoboLab • Use Black View Button to read data

from the rotation sensor


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RoboLab Control Structures

• Sequence• Loop: • Decision: Fork

• Subroutines:• Multitasking:


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Loop with a counter


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Loop while touch sensor is released


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Mission 5: Detect Light and Beep• When the light sensor detects a

bright light source, beep• Repeat until a touch sensor is

pressed


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A loop inside a loop?


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Decision - Fork


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Mission 6: Line Following (Zigzag method)Do forever until touch sensor is

pressed:• If it sees black, turn right• If it sees white, turn left

Which side of the line does this follow?


36How to follow a line using one Light Sensor? - Zigzag methods


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Subroutine – a set of commands• Create Subroutine No. n:

• Run subroutine n:

n

n


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Subroutine Example


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Mission 7: Line Following Until the edge of the board• Do forever until light sensor detects

the edge of the board: If it sees black, turn right If it sees white, turn left


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RCX Communications - Send


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RCX Communications - Receive


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Containers to store values

• Loop while container value is less than…


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Mission 8: Line Counter• Go forward• Count each line as the robot crosses it• When the robot detects the 4th line, stop.• Uses a Container to count number of lines


45Line Counter Solution Using RoverBot Style Gearing

Wait for Dark

If no time to skip black line, a line can be counted more than once.

Wait for Dark

Cf. RCX code, Wait Until, provides “Edge Triggering”


46

Sensor Stacking• Stack touch sensor

on top of light sensor• Both Sensors must be

thought of as light sensors.

• Pressing the touch sensor will always read 100.

• When the touch sensor is not pressed the value for the light sensor will be read.


47Mission 9: Line following until stacked touch sensor is pressed


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Multitasking


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How to upload to different program slots• Select the slot number by pressing

the gray Pgm button on the RCX• Click the (run) button

Chung for Robofest 05 1 Introduction to RoboLab CJ Chung Lawrence Technological University.

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