Basic NXT-G Programming

Transcription

1 Basic NXT-G Programming

2 NXT-G Sequence Beams Blocks Structures (special blocks) Wires (connect ports on blocks & structures)

3 Forward 2, Back 2, Talk 01-Basic Program.rbt

4 Loop 36 times 02 Simple Structure - Loop.rbt

5 Branch on a Variable & Use Wires What's a Variable? It's a box to put something in, like text, a number, or a true/false value. Why might we use a Variable? To reference it later in the program. What is a Compare block? A Compare block tests the value of a numeric variable against a another number. When might we use a Compare block? To test the value of a sensor...

6 Branch on a Variable & Use Wires 03 Variables.rbt 03-Variables.rbt

7 Branch on a Sensor & Use Wires Ex t ra C re di t! 03.1-Sensor And Branch.rbt

8 Design Principles & Strategies

9 Design Principles & Strategies KISS Tool Design First Then Program Leapfrog Development Competitive Development Test Repeatedly Change 1 Small Thing at a Time Test Repeatedly

10 Design Principles & Strategies KISS Quick Attachment Switching Specialized Tools Test Repeatedly Stiff & Stable is Repeatable and Reliable Leverage Change 1 Small Thing At A Time Repetitive Testing Slow Motion Video

11 Tactical Techniques Standard Starting Location Standard Starting Configuration Straight Lines using Move Blocks Pivot Turns (some folks call these Swing Turns)

12 Basic Techniques

13 Incremental Development with Bluetooth Where to go from here?

14 Incremental Development with Bluetooth Now we will write a program together using Bluetooth incremental development Move Forward Lower Arm Trapping 3 Pylons and Blue Ring Backup to Base Raise Arm Back to Starting Position

15 Incremental Development with Bluetooth Mission 1 - Basic

16 Precise Turns Left Face! Hold one wheel still Drive with the other wheel Make your drive in two parts, slow then fast You re not done until you have strung it together with the moves before and after the turn

17 Precise Turns Left Face! 04-Left Face.rbt

18 Video What s really going on here? Once we looked at a slow motion video of our robot we found out we hadn t really been seeing what our robot was doing

19 Video What s really going on here? We're going to show you: Video at full speed Video in slow motion Video in frame by frame

20 Sensors When should I stop? Go Forward until you see dark Use a move and a wait block Check your light levels

21 Sensors When should I stop?

22 Sensors When should I stop? Go Forward until you see dark Use a move and a wait block Check your light levels The wait until sensor block is one way to stop on a line... We like our way better. Now we'll build an improved loop checking sensor every 6 degrees

23 Sensors When should I stop?

24 Medium Techniques

25 MyBlocks Good things come in small packages Take our Go to Dark loop program and make it a MyBlock Combine a move with our Go to Dark MyBlock

26 MyBlocks Good things come in small packages

27 MyBlocks Good things come in small packages

28 MyBlocks Good things come in small packages

29 Multi-Threaded Programming walking and chewing gum at the same time Advance on the blue ring while lowering the arm to just above the blue ring. Continue to move forward slowly while lowering the arm the rest of the way. Return to base.

30 Multi-Threaded Programming walking and chewing gum at the same time

31 Multi-Threaded Programming walking and chewing gum at the same time

32 More Tactical Techniques Standard Starting Location Standard Starting Configuration Straight Lines using Move Blocks Pivot Turns 1-Count Loops to Synchronize Threads Crowbars to pry open loops and switches Avoid Move Unlimited with Wait Sensor CONTROL your own destiny by writing your own code

33 Multi-Threaded Programming walking and chewing gum at the same time

34 Advanced Techniques

35 Sensor Calibration Is it night or just cloudy? First we'd like to explain the Calibrate Block Then we'll show you how we use it in our Calibrate program We've posted Cougar Calibrate.rbc, our calibrate program, on CougarRobot.com Why is Cougar Calibrate better?

36 Sensor Calibration Is it night or just cloudy?

37 Sensor Calibration Is it night or just cloudy?

38 Position Registration Our Favorite, X marks the spot How should I register my position? 1.Register using touch 2.Register using light 3.Register using odometry What should I register my position against? 1.The strategic object you are manipulating 2.The mat 3.Field walls

39 Position Registration Our Favorite, X marks the spot Back to Wall

40 Position Registration Our Favorite, X marks the spot

41 Position Registration Our Favorite, X marks the spot Back to Wall Back to Line

42 Position Registration Our Favorite, X marks the spot

43 Position Registration Our Favorite, X marks the spot Back to Wall Back to Line Advance to Line

44 Position Registration Our Favorite, X marks the spot

45 Position Registration Our Favorite, X marks the spot Back to Wall Back to Line Advance to Line We've posted Cougar Advance To Line.rbt on our website CougarRobot.com.

46 Dependent Threads & Synchronization throwing the newspaper while riding your bike Let's take a look at our Final Mission, CA Black 5-8 Timmy and Friends! The turn in front of the dynamometer is now jam-proof!

47 Dependent Threads & Synchronization throwing the newspaper while riding your bike

48 Dependent Threads & Synchronization throwing the newspaper while riding your bike Our Grey Balls mission from Climate Connection really showed smoothness of dependent threads.

49 Dependent Threads & Synchronization throwing the newspaper while riding your bike

50 Timers When will this match be over? Here's how we used a timer in our master program during Climate Connections

51 Timers When will this match be over?

52 Timers When will this match be over?

53 Master Programs/Menus/Scripting Your wish is my command We use a Master Program We have a plan and a script Our Master Program helps us follow it quickly

54 Master Programs/Menus/Scripting Your wish is my command Let's build a simple sequencer. Make 01-Basic into a MyBlock Make 02-Loop 36 times into a MyBlock Make 5.4 Go To Dark into a MyBlock

55 Master Programs/Menus/Scripting Your wish is my command Let's build a simple sequencer. Start a new program Drop the 3 MyBlocks onto a sequence beam Add wait blocks Add a sound at the start

56 Master Programs/Menus/Scripting Your wish is my command

57 Master Programs/Menus/Scripting Your wish is my command Now Check out a Full Featured Sequencer...

58 Master Programs/Menus/Scripting Your wish is my command

59 Master Programs/Menus/Scripting Your wish is my command For the Smart Move challenge we improved our Master Program by altering LB or EB program. LB (left button) is repeat last mission EB (enter button) is run next mission. We added RB (right button) which jumps ahead one mission in the sequence Our new program is LB or EB or RB

60 Master Programs/Menus/Scripting Your wish is my command

61 Master Programs/Menus/Scripting Your wish is my command

62 Resources id=c3dcfabe d-8b76-c7e23d41f9b8 Brian Davis Ph.D., Adjunct Assistant Professor at Indiana University South Bend, & LEGO MDP

63 Miscellaneous TIME is your most valuable resource Make choices that put you in CONTROL

64 Miscellaneous 60ish blocks per program At roughly 60 blocks per program the NXT-G editor will start to get really flakey

65 Miscellaneous Know how many degrees or rotations per inch You should be able to predict the numbers to feed to a move block by using a tape measure. You should also be able to predict the numbers to make the robot turn 90 degrees.

66 Miscellaneous NXT-G is Good at Modularization Nest and Parameterize Your Programs

67 Miscellaneous Innovate Early Consolidate Late

68 Miscellaneous Version control (can use Pack and Go ) Backup solution (can use 7-Zip)

69 Put It All Together!

70 Our Thanks to...