FTC ProgrammingRobotC ProgrammingMaking your robot move

Eric and Christina GrajalesMentor Exploding Bacon / DITUFTC Teams 1902 / 5454

FTC Programming

FTC ProgrammingAgendaWhat is RobotCDiagram your RobotRobotC Setup and ConfigurationHow to display textYour first programReading the joystickMoving your robotServosTimingSensorsEncodersUseful LinksQuestions

FTC Programming

FTC ProgrammingWhat is RobotCIndustry Standard C Programming LanguageInteractive Run-Time DebuggerHigh Performance FirmwareProgramming Development EnvironmentTraining and Curriculum SupportComplete and Total Solution for User Program Development++++Language extensions for robotics Built-in variables for robotics devices

RobotC has 100s of already built functions to make programming your robot easier

FTC Programming

FTC ProgrammingDiagram your RobotHow many Tetrix Motor Controllers are you using?

How many Tetrix Servo Controllers are you using?

How many NXT motors?

What Sensors are you using?

FTC Programming

FTC ProgrammingDiagram your Robot (cont)Good time to build an electrical wiring diagram.All this information is great for your engineering notebook

FTC Programming

FTC ProgrammingDiagram your Robot (cont)Draw your configuration on paperName each motor, servo, sensor. Use names that describe each part and what it does: frontRightMotor frontLeftMotor, pincherServoLeft, etc

FTC Programming

FTC ProgrammingLets Build a Test Platform1 Hitechnic Motor Controller1 Hitechnic Servo Controller2 Tetrix12 V Motors1 Tetrix Servo1 Lego Motor1 Lego Light Sensor1 Lego NXT with batteries1 Tetrix Battery and SwitchAt least 1 Joystick ControllerLaptop USB, Bluetooth, Samantha connectionCables and connectors

FTC Programming

FTC ProgrammingTest Platform Wiring Diagram

FTC Programming

FTC ProgrammingRobotC Setup and Configuration1st time setupInstall and RobotC Turn on NXT and connect NXT to computer via USB cableDownload latest firmware (V2.25 - NXT0819.rfw)Note: If you upgrade from an older version of ROBOTC, make sure you upgrade your firmware as well.Link via USB, name the NXT your team numberDisconnect USB Cable Set RobotC platform type (NXT + Tetrix)

FTC Programming

FTC ProgrammingRobotC SetupThe first time you fire up the ROBOTC IDE, there are a few quick things you will want to do before you begin programming a FTC robot.

1. Set menu level from basic to Expert.a. Window, Menu Level, Expert2. Set platform type to LEGO Mindstorms NXT + TETRIX.a. Robot, Platform Type, LEGO Mindstorms NXT + TETRIX

FTC Programming

FTC ProgrammingFirmwareDownload latest firmware to NXT brick.* Note that this only needs to be done the first time you setup a new NXT brick with ROBOTC and when you upgrade your version of ROBOTC.** Also note that the battery level must be high enough on the NXT before it will allow you to download new firmware.a. Make sure NXT is connected via USB and turned on.b. Open Link Setup dialogi. Robot, NXT Brick, Link Setupc. Select NXT in top left corner and press F/W Download button.d. Select .rfw file in default firmware directory in popup and press Open.i. For ROBOTC v2.03, the firmware file should be: NXT798.rfw.e. After a few moments, the Link Setup dialog box will display some verbose information in the Message Log and your NXT should beep several times and restart. When complete, you should see a series of messages similar to below in the Message Log:

FTC Programming

FTC ProgrammingExercise RobotC Setup and ConfigurationRobot C Setup

Link via USB, Bluetooth, or Samantha to NXT

Open the Sample program C:\Program Files\Robotics Academy\ROBOTC for MINDSTORMS\Sample Programs\NXT\LCD Examples\NXT Draw Spiral.c

Compile and Download sample program to your NXT.

Run the sample program.

FTC Programming

FTC ProgrammingTetrix Ranger

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Get to Configuration WindowFTC Programming

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FTC ProgrammingTextrix Controller Setup

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FTC ProgrammingMotor Setup

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FTC ProgrammingSensor Setup

FTC Programming

FTC ProgrammingRobotC Pragma Setup#pragma config(Hubs, S1, HTMotor, HTServo, none, none)#pragma config(Sensor, S1, touch, sensorI2CMuxController)#pragma config(Sensor, S2, compass, sensorVirtualCompass)#pragma config(Sensor, S3, light, sensorLightActive)#pragma config(Sensor, S4, sonar, sensorSONAR)#pragma config(Motor, mtr_S1_C1_1, leftMotor, tmotorNormal, openLoop, encoder)#pragma config(Motor, mtr_S1_C1_2, rightMotor, tmotorNormal, openLoop, reversed, encoder)#pragma config(Servo, srvo_S1_C2_1, servo1, tServoStandard)#pragma config(Servo, srvo_S1_C2_2, servo2, tServoNone)#pragma config(Servo, srvo_S1_C2_3, servo3, tServoNone)#pragma config(Servo, srvo_S1_C2_4, servo4, tServoNone)#pragma config(Servo, srvo_S1_C2_5, servo5, tServoNone)#pragma config(Servo, srvo_S1_C2_6, servo6, tServoNone)//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

FTC Programming

FTC ProgrammingExerciseSetup the Ranger Configuration in RobotC

FTC Programming

FTC ProgrammingTask MainTask main is used to tell the NXT where the beginning of your programs is. The beginning and end of task main is denoted with curly braces { } When the program execution reaches the end of the main task, all robot activity stops.#include "JoystickDriver.c" // Tells ROBOTC to include the driver file for the joystick. task main() // All programs must have this task{ while(true) { motor[rightMotor] = joystick.joy1_y1; motor[leftMotor] = joystick.joy1_y2; }}

FTC Programming

FTC ProgrammingVariablesVariables are the robots way of storing values for later use. They function as containers or storage for values. Values such as sensor reading can be placed in a variable and retrieved at a later time for convenient use. A variable is simply a place to store a value.

Useful types:Integer, or int values are numbers with no fractional or decimal component.Floating point (float) numbers are so called because the decimal point floats around in the value, allowing decimal places to be used.Strings (string): Text in ROBOTC is always a string. In ROBOTC, the word Hello is really a collection of letters H, e, l, l, o strung together to form a single value.Boolean (bool) values represent truth or logic values, in the form of true or false.

Use variable names that make sense. What is more readable? a = b / c; Or speed = distance / time;

FTC Programming

Conditional StatementsIf statements are pretty self explanatory. If a, then b.The syntax (grammar of programming) of an if statement isIf(4 < 100) {Do stuff;}If else statements run if the if statement was false. These are useful for when there are multiple cases of an instance.else if (4 == 100) {Do stuff;}Else statements follow the if before it. If the if statement was false then the else statement will run.else {Do stuff;}FTC Programming

FTC Programming

Boolean Logic== equals< less than> greater than= greater than or equal to&& and|| or

NO (0 < a < 100)!!!! Use &&! ((0 < a) && (a < 100))FTC Programming

FTC Programming

LoopsFor loops run a certain number of times (in this case, 10).Be careful of infinite loops (i--)

For (int i = 0; i < 10; i++;){code that will repeat;}FTC Programming

FTC Programming

Loops (cont.)While statements are used when you dont know how many times the code will run.While (true) {do stuffffffffs;}Do While statements always run at least once, and then follow the while loop.Do{more stuffffffssss;}While(true)FTC Programming

FTC Programming

FTC ProgrammingCommentsTwo ways to comment code: Comments: // A single line Comments: /* Section of code */

Comment your code, next year when you read the code youll know what you did and why.

// Move motor C forward with 100% powertask main(){ int motorspeed;

/* Motor C forward with 100% power Do this for 3 seconds */ motorspeed = 100; motor[motorC] = motorspeed; wait1Msec(3000);}

FTC Programming

FTC ProgrammingHow to display textDisplay text functions:eraseDisplay() - Erases the complete NXT LCD displaynxtDisplayClearTextLine(nLineNumber) nxtDisplayCenteredTextLine(nLineNumber, sString) nxtDisplayCenteredTextLine(nLineNumber, sFormatString, parm1, parm2) nxtDisplayString(nLineNumber, sFormatString, parm1, parm2, parm3) nxtDisplayTextLine(nLineNumber, sFormatString, parm1, parm2, parm3) nxtDisplayTextLine(nLineNumber, sString) Where nLineNumber is the NXT LCD line number and sFormatString specifierOutput Example Code Example Output %d Signed decimal integer "%d" 4246%f Decimal floating point "%f" 3.14159 %s String of characters "%s" ROBOTC

FTC Programming

sFormatString ExampleRead raw and normal light sensor data on the NXTIf you want to print Raw: 333 Normal: 96sFormatString will look likeRaw: %d Normal: %dParam1 and Param2 are variables, in this case the raw and normalized light sensor data. Generally, these are constructed in the beginning of the code with names like rawLightData and normalLightData.

nxtDisplayTextLine(2, Raw: %d Normal: %d, rawLightData, normalLightData);FTC Programming

FTC Programming

FTC ProgrammingHow to display text (cont)When using FTC Template the NXT LCD displays Field Management System (FMS) information used by the Field Technical Advisor during competitions.

Line 0 NXT status line (do not touch) Battery Status, Bluetooth enabled, etcLine 1 FCS Mode (Waiting, Auto, Teleop)Line 2 BLANKLine 3 External Battery Voltage (Textrix 12 Volt battery)Line 4 NXT Battery VoltageLine 5 FMS Msgs countLine 6 "Teleop FileName:"Line 7 NXT Teleop file name

Items in bold are refreshed every 200ms. DO NOT OVERWRITE THESE LINES!

FTC Programming

FTC ProgrammingHow to display text (cont) Sample Programtask main(){int int_test = 1234; float float_test = 3.14159; eraseDisplay(); // Clear out the NXT LCD ScreennxtDisplayCenteredTextLine(2, Hello); nxtDisplayTextLine(3, Data %d %f, int_test, float_test); wait1Msec(5000); // Wait 5 seconds}Compile and Download sample program to your NXT.

Run the sample program.

FTC Programming

ExerciseUsing the example on the previous slide, compile and run the code on the virtual world robot.FTC Programming

FTC Programming

FTC ProgrammingJoystick ControllerLogitech PS2 type controller2 Joysticks10 ButtonsAccess Joystick via built in functions:joystick.joy1_x1joystick.joy1_y1joystick.joy1_x2joystick.joy1_y2 return integer ranges between -127 and 127joy1Btn(button) // (button 1 thru 10) returns the a value of 1 (true) if pressed and a value of 0 (false) if not pressed.

Similar functions for Joystick2.Must #include "JoystickDriver.c " in your program

FTC Programming

FTC ProgrammingJoystick Controller (cont)Sample 1#include "JoystickDriver.c" // Tells ROBOTC to include the driver file for the joystick. task main(){ while(true) { if (joy1Btn(1)) // If Joy1-Button1 is pressed: { motor[motorA] = 100;// Turn Motor A On at full power } else // If Joy1-Button1 is NOT pressed: { motor[motorA] = 0;// Turn Motor A Off } } }

Sample 2#include "JoystickDriver.c" // Tells ROBOTC to include the driver file for the joystick. task main(){ while(true) { motor[motorC] = joystick.joy1_y1; motor[motorB] = joystick.joy1_y2; }}

FTC Programming

Tank DriveFTC ProgrammingForwardRightBackward

FTC Programming

FTC ProgrammingMove Simple BotTank Mode - uses both left and right joysticks to drive the robot. void tank(int y1, int y2){motor[motorC] = y1;motor[motorB] = y2;}

task main(){ while (true) { tank(joystick.joy1_y1, joystick.joy1_y2); }}

Arcade Mode only one joystick as controller // uses x1 and y1 from joystick1void arcade(int x, int y) { int powY; int powRightMotor; int powLeftMotor;

powY = y; if (x < 0) // if x negative, turning left; otherwise, turning right { powLeftMotor = (powY * (128 + (2 * x))/128); // left motor reduced for right turn powRightMotor = powY; // right motor not changed } else { powRightMotor = (powY * (128 - (2 * x))/128); // right motor reduced for left turn powLeftMotor = powY; // left motor not changed }

motor[motorC] = powLeftMotor; motor[motorB] = powRightMotor;}

task main(){ while (true) { arcade(joystick.joy1_x1, joystick.joy1_y1); }}

FTC Programming

FTC ProgrammingImproving Drive CodeWhile the Tetrix motors accept an output power range of 100 to +100, the analog sticks on the joystick return values between -128 to +127. This means if the analog stick is in the range under -100 or over +100, the value passed to the motor is simple transformed to -100 or +100. This is less than ideal because it reduces the usable range of the analog stick by about 20%.

There is another issue related to dead zones within the physical joysticks themselves. Due to inaccuracies and tolerances within the manufacturing process, the analog sticks on most FTC joysticks will rarely return to a perfect zero when released. This has a tendency to cause a robot to slowing spin in a circle when no one is touching the analog sticks. A simple code solution is to account for a dead zone at low values for the analog sticks which can then be treated as zero.

The basic formula: motorValue = (joystickValue / Max joystickValue) * max motorOutput

int scaleForMotor(int joyvalue){ const int DEADZONE = 5; const int MAX_MOTOR_VAL = 100; const float MAX_JOY_VAL = 127.0;

if (abs(joyValue) < DEADZONE) { // Check if joystick value is return 0; // less than deadzone } // Scale joystick value float ratio = joyValue / MAX_JOY_VAL; int scaledVal = ratio * MAX_MOTOR_VAL;

// return scaled value return scaledVal;}A logarithmic scale to get fine grain control at lower speeds and quickly scale the power up at the end of the range. motorValue = (joystickValue^2 / Max joystickValue^2) * max motorOutput

int scaleForMotor(int joyvalue){ const int DEADZONE = 5; const int MAX_MOTOR_VAL = 100; const float MAX_JOY_VAL = 127.0;

if (abs(joyValue) < DEADZONE) { // Check if joystick value is return 0; // less than deadzone } // Scale joystick value int direction = joyValue / abs(joyValue); float ratio = (joyValue * joyValue) / (MAX_JOY_VAL * MAX_JOY_VAL); int scaledVal = ratio * MAX_MOTOR_VAL * direction;

// return scaled value return scaledVal;}

FTC Programming

FTC ProgrammingMotor Control

FTC Programming

FTC ProgrammingMove your Robot Sample#include "JoystickDriver.c" // Tells ROBOTC to include the driver file for the joystick.

void tank(int y1, int y2){motor[LeftMotor] = y1;motor[RightMotor] = y2;}

int scaleForMotor(int joyvalue){ const int DEADZONE = 5; const int MAX_MOTOR_VAL = 100; const float MAX_JOY_VAL = 127.0;

if (abs(joyValue) < DEADZONE) { // Check if joystick value is return 0; // less than deadzone } // Scale joystick value float ratio = joyValue / MAX_JOY_VAL; int scaledVal = ratio * MAX_MOTOR_VAL;

// return scaled value return scaledVal;}

task main(){ while (true) { tank(scaleForMotor(joystick.joy1_y1), scaleForMotor(joystick.joy1_y2)); }}

FTC Programming

FTC ProgrammingExerciseMove your RobotWrite code to move the 12V tetrix motors with your joystick.Compile and download it to your NXTRun the code and move your joystick to see the motors turn.

FTC Programming

What is a Servo?There are two types of servos: Standard Servos and Continuous Rotation Servos (almost like a super low powered motor).An example of when to use a standard servo would be the balance bridges from the FTC 2010 game. Many teams had a metal arm that would lower the bridge so that the robot could cross it. (Think moving in arcs)FTC Programming

FTC Programming

FTC ProgrammingServosservoValue[servo#] - Standard Servo Only This read-only function is used to read the current position of the servos on a sensor port Servo controller. Values can range from 0 to 255. Center Point value 127. The value returned in this variable is the last position that the firmware has told the servo to move to. This may not be the actual position because the servo may not have finished the movement or the mechanical design may block the servo from fully reaching this position. To set the position of a servo, use the "servoTarget" or "servo" functions. servo[servo#] = position or servoTarget[servo#] = position; This function is used to set the position of the servos on a sensor port Servo controller. Values can range from 0 to 255. The firmware will automatically move the servo to this position over the next few update intervals. (Be sure to give the servo some amount of time to reach the new position before going on in your code.)

servoChangeRate[servo#] = changeRate; Specifies the rate at which an individual servo value is changed. A value of zero inidcates servo will move at maximum speed. The change rate is a useful variable for "smoothing" the movement of the servos and preventing jerky motion from software calculated rapid and wide changes in the servo value. The default value is a change rate of 10 positions on every servo update which occurs. (updates occur every 20 milliseconds)

FTC Programming

FTC ProgrammingServos Sample#include "JoystickDriver.c" task main(){ while(true) { if (joy1Btn(1)) // If Joy1-Button 1 is pressed: { servoTarget[1] = 255; // Turn servo clockwise } else if (joy1Btn(3)) // If Joy1-Button 3 is pressed: { servoTarget [1] = 0; // Turn servo counter clockwise } else { servoTarget [1] = 127; // Center servo } } }

FTC Programming

FTC ProgrammingExerciseMove your ServoWrite code to move the servo using a joystick button joystick.Compile and download it to your NXTRun the code and press the joystick to see the servo turn.

FTC Programming

FTC ProgrammingTimingFunctions to pause the program for a desired amount time:

wait1Msec(nMSec);wait10Msec(nTenMSec); Program execution will wait for the specified number of clock units. Units can be in either 1-millisecond or 10-millisecond counts. The maximum interval that can be specified is either 32.767 seconds or 327.67 seconds depending on which function is used.

There are four timers (T1, T2, T3 and T4) the user can program. These four timers can be individually be reset to zero within a program. Theses timers are useful for measuring elapsed time of events.

ClearTimer(theTimer);Timers start counting as soon as the NXT is powered on. A user's program should reset a timer before using it, so use this function to reset the value of the specified timer to zero.

time1[theTimer], time10[theTimer], time100[theTimer]These three arrays hold the current value of the respective timers. Each of the timer values can be retrieved in units of 1, 10 and 100 milliseconds depending on which array is used. For example, time1[T1] retrieves the value of timer T1 in units of 1-msec and time10[T1] retrieves the value using a 10-msec tick.

FTC Programming

FTC ProgrammingTiming Sample#include "JoystickDriver.c" task main(){ ClearTimer(T1); // Resets Timer T1 to 0 while(time1[T1] < 5000) // Loop for 5 seconds { // do something in loopwait1Msec(500); // Wait second } }

FTC Programming

Types of SensorsLight SensorDetects amount of light (grayscale); two modes: with flashlight and withoutTouch SensorDetects if the sensor hit somethingUltrasonic/Sonar SensorDetects how far an object is from the sensorGyroDetects angle based off initialized 0CompassDetects True NorthFTC Programming

FTC Programming

FTC ProgrammingSensorsSensorType[] The SensorType array is used to specify what type of sensor is connected to a certain port. Most users should not have to use this functionality and should use the Motors and Sensor Setup instead.Example: SensorType[sonarSensor] = sensorSonar;

SensorRaw[] This array value will return the "raw" (un-normalized) value of a sensor. Usually this is the raw A-D converted value, which is an analog value between 0 to 1023.

SensorValue[]This array value returns the value of the sensor in a normalized fashion. Rather than returning a raw value of 0 to 1023, ROBOTC will interpret the data from the "SensorType" and return a more accurate representation of the sensor's data. An example of this is the Light Sensor, which will return a percentage value from 0 to 100.

FTC Programming

FTC ProgrammingSensor Sample#include "JoystickDriver.c" task main(){ wait1Msec(50); //the program waits 50 millisecond to initialize the light sensor

// 0 black, 100 white while(SensorValue[lightSensor] > 80) //keep looping while the light sensor's value is greater than 80. { motor[leftMotor] = 75; //leftMotor is run at a 75 power level motor[rightMotor] = 75; //rightMotor is run at a 75 power level }

motor[leftMotor] = 0; //leftMotor is stopped motor[rightMotor] = 0; //rightMotor is stopped}

FTC Programming

ExerciseUsing the previous Light Sensor sampleCompile and run inside Virtual WorldUse the Learning RobotC TablesIn VW, select the Utilities Tab, Light Sensor Table, Position F to run the example.FTC Programming

FTC Programming

FTC ProgrammingTetrix Motor EncodersEnables your robot to move a fixed distance, rotate to a specific position, or move at a constant speed.

The technique to measure the movement of your robot is called odometry, it requires an encoder that translates the turns of the wheel into the corresponding traveled distance.

The Tetrix Encoder measures rotation 1440 ticks per revolution if robotis geared you will need to compute gear reduction factor and wheel size to computer distance travelled per encoder tick.

FTC Programming

FTC ProgrammingTetrix Motor EncodersAssuming direct drive and 4 inch wheel, 1 rotation of the motor will move the robot 12.6 inches (Circumference of wheel is = 2 * pi * radius)

If we want to travel 20 inches, then we need to compute the number of ticks the encoder must measure = (1440 ticks/revolution)/(12.6 inches/revolution) * 20 inches is about 2285 ticks.

FTC Programming

FTC ProgrammingMotor Encoders FunctionsnMotorEncoderTarget[] - The nMotorEncoderTarget is used to set a target distance that a motor should move before system puts motor back in idle or stopped state. A target value of 0 (zero) means run forever.

nMotorRunState[] - Array containing the internal state of a NXT motor. Useful in checking when a motor movement "command" has finished. There are three different states - runStateRunning, runStateHoldPosition, runStateIdle.

nMotorEncoder[] Array containing the current encoder value

FTC Programming

FTC ProgrammingEncoder Sample#include "JoystickDriver.c" task main(){ int rotations = 1440.0 * 20.0 / 12.6;

nMotorEncoder[motorB] = 0; // Reset the Motor Encoder of Motor B. nMotorEncoderTarget[motorB] = rotations; // Set the target to 5 rotations.

motor[motorB] = 75; // Motor B is run at a power level of 75. motor[motorC] = 75; // Motor C is run at a power level of 75.

while(nMotorRunState[motorB] != runStateIdle) // While Motor B is still running { wait1Msec(50); } // or while (nMotorEncoder[motorB] < rotations) // wait for motor to reach a specific # of ticks { wait1Msec(50); } motor[motorB] = 0; // Motor B is stopped at a power level of 0. motor[motorC] = 0;}

FTC Programming

FTC ProgrammingHow to turn accuratelyTo do a 1 wheel turn, where one side of the robot drivetrain is stopped, and the other side turns.Arc Distance = 2 * pi * radius (width of robot) * angle / 360Then use encoders and their ticks-to-inch ratio from earlier to calculate the offset of the right encoder from the left one.Example: An 18 in wide robot would travel how much in a 90 degree turn?Answer:28.27 inches3240 ticksbeforeafter

FTC Programming

FTC ProgrammingSimplify your Code with FunctionsA function is a self-contained collection of instructions that, when called, accepts a specified number of arguments, performs some task, and returns a value back to the calling program

Example :moveForward(int num_inches){ int rotations_ticks; float wheel_diameter; wheel_diameter = 4.0;

// 1440.0 is the number of ticks per wheel rotation, if wheels are geared verify this value // (num_inches / wheel perimeter), calculates the number of wheel rotations

rotation_ticks = 1440.0 * num_inches / (wheel_diameter * 3.14159);

nMotorEncoder[motorB] = 0; // Reset the Motor Encoder of Motor B. wait1Msec(10); // always wait some time after setting nMotorEncocder

motor[motorB] = 75; // Motor B is run at a power level of 75. motor[motorC] = 75; // Motor C is run at a power level of 75. while (nMotorEncoder[motorB] < rotations_ticks) // wait for motor to reach a specific # of ticks { wait1Msec(50); } motor[motorB] = 0; // Motor B and C are stopped at a power level of 0. motor[motorC] = 0;}

task main(){ moveForward(30); // call function}

FTC Programming

FTC ProgrammingFunctionsGood set of functions to write for your robot:moveForward (int num_inches)turnRight(int num_degrees)turnLeft(int num_degrees)MoveBackwards(int num_inches)scaleForMotor(int joyValue)

FTC Programming

FTC ProgrammingExercisePutting it all together

FTC Programming

FTC ProgrammingUseful References and LinksROBOTC.netThe main website for ROBOTC is one of the best resources for getting help or interacting with other members of the ROBOTC community. You can email their technical support if you have a technical issue with the software/IDE itself or if you want to report a bug. But often more useful are the forums. There is a sub-forum dedicated to FTC and most posts there are responded to the same day. I personally make an effort to visit the forum daily during the build season as do a number of other mentors. It may be the best place to get help and feedback from a largest number of smart folks familiar with ROBOTC.Main website: http://www.robotc.net/Forums: http://www.robotc.net/forums/Blog: http://www.robotc.net/blog

Robotics Academy CurriculumRobotics Academy, the non-profit affiliated with Carnegie Melon University who created ROBOTC, offer a number of training resources. Note that some of these are not free.Main Website: http://www.robotc.net/education/curriculum/nxt/Preview Website : http://www.education.rec.ri.cmu.edu/previews/robot_c_products/teaching_rc_tetrix_preview/index.htmlClasses: http://www.robotc.net/education/training/nxt/Webinars: http://www.robotc.net/education/webinars/Older videos & tutorials: http://www.education.rec.ri.cmu.edu/content/events/ftc/robotc/index.htm

Tetrix for FTC http://www.tetrixrobotics.com/ftc/

FTC Programming

FTC ProgrammingUseful References and LinksXanders 3rdParty DriversXander Soldaat is a regular contributor to the NXT community who maintains a set of excellent third party drivers for NXT compatible sensors. These drivers offer enhanced functionality for using just about any sensor with ROBOTC and I highly recommend them; particularly so if you are using the IR Seeker or Sensor Multiplexer.3rdParty Drivers: http://rdpartyrobotcdr.sourceforge.net/Blog: http://mightor.wordpress.com/

Chief DelphiFor years, the forums on Chief Delphi have been the most active and engaging source for unofficial FIRST related information. It is an extremely dynamic online community of FIRST students, mentors, and volunteers. As such, it is another great resource for help with not only ROBOTC, but FTC and FIRST in general.Main website: http://www.chiefdelphi.com/forums/index.phpFTC sub-forum: http://www.chiefdelphi.com/forums/forumdisplay.php?f=146

Course Notes Albert Schueller, Whitman CollegeOne of the best ROBOTC tutorials can be found in the class notes from Albert Schuellerss course on programming with robots at Whitman College. This is a good read through which covers many of the basics/fundamentals that this guide does not.PDF of tutorial: http://carrot.whitman.edu/Robots/notes.pdf

FTC Programming

FTC ProgrammingAcknowledgmentsFTC-Iowa 3-day Coaches Workshop, June 13th to 15th, 2010 University of Iowa, Supplemental Guide for ROBOTC ProgrammingProgramming with Robots, Albert W. Schueller, Whitman College, October 12, 2011Xanders 3rdParty DriversRobotics Academy Curriculum

FTC Programming

FTC ProgrammingQuestions

FTC Programming

TBD 49, 54*testbed*Returns motor value to set motor with*