Basic NXT-G Programming
description
Transcript of Basic NXT-G Programming
Basic NXT-G Programming
NXT-G
•Sequence Beams•Blocks•Structures (special blocks)
•Wires (connect ports on blocks & structures)
Forward 2, Back 2, Talk
01-Basic Program.rbt
Save this program!
Forward 2, Back 2, Talk
Save this program!
Loop 36 times
02 Simple Structure - Loop.rbt
Save this program!
Loop 36 times
Save this program!
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...
Branch on a Variable & Use Wires
03 Variables.rbt03-Variables.rbt
Branch on a Variable & Use Wires
Branch on a Sensor & Use Wires
03.1-Sensor And Branch.rbt
Extra Credit!
Branch on a Sensor & Use Wires
Design Principles & Strategies
Design Principles & Strategies
•KISS•Tool Design First – Then Program•Leapfrog Development•Competitive Development•Test Repeatedly•Change 1 Small Thing at a Time•Test Repeatedly
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
Tactical Techniques
•Standard Starting Location•Standard Starting Configuration•Straight Lines using Move Blocks•Pivot Turns (some folks call these Swing Turns)
Basic Techniques
Incremental Development with Bluetooth
Where to go from here?
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
Incremental Development with Bluetooth
Mission 1 - Basic
Incremental Development with Bluetooth
Precise TurnsLeft 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
Precise TurnsLeft Face!
04-Left Face.rbt
Precise TurnsLeft Face!
VideoWhat’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…
VideoWhat’s really going on here?
•We're going to show you:– Video at full speed– Video in slow motion– Video in frame by frame– Watch: 1 House & Core Rig Slow Mo video.MP4
SensorsWhen should I stop?
•Go Forward until you see dark–Use a move and a wait block–Then add a stop block–Check your light levels
SensorsWhen should I stop?
SensorsWhen should I stop?
SensorsWhen should I stop?
•Go Forward until you see dark–Use a move and a wait block–Then add a stop block–Check your light levels–The wait until sensor block is one way to stop on a line... Our way is better when you need both power and accuracy.–Now we'll build an improved loop checking sensor every 6 degrees–Then try changing the number of degrees
SensorsWhen should I stop?
SensorsWhen should I stop?
Medium Techniques
MyBlocksGood 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
MyBlocksGood things come in small packages
MyBlocksGood things come in small packages
MyBlocksGood things come in small packages
MyBlocksGood things come in small packages
MyBlocksGood things come in small packages
Multi-Threaded Programmingwalking 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.
Multi-Threaded Programmingwalking and chewing gum at the same time
Multi-Threaded Programmingwalking and chewing gum at the same time
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•Use your own loops to check sensors and control movement for best accuracy•CONTROL your own destiny by writing your own code
Multi-Threaded Programmingwalking and chewing gum at the same time
HappyBirthday
Kate
Advanced Techniques
MyBlocks with Parameters“Siri, take me here!”
• Parameters make MyBlocks reusable in more situations
• MyBlocks become adaptable• You only program 1 MyBlock that is
applicable in different scenarios
MyBlocks with Parameters“Siri, take me here!”
• Take our two part turn and add direction math
• Determine desired direction• Add a variable for input• Cut the wire and make a MyBlock!
MyBlocks with Parameters
Sensor CalibrationIs 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?
Sensor CalibrationIs it night or just cloudy?
Sensor CalibrationIs it night or just cloudy?
Position RegistrationOur Favorite, X marks the spot
How should I register my position?1.Register using touch2.Register using light3.Register using odometry
What should I register my position against?1.The strategic object you are manipulating2.The mat3.Field walls
Position RegistrationOur Favorite, X marks the spot
•Back to Wall
Position RegistrationOur Favorite, X marks the spot
Position RegistrationOur Favorite, X marks the spot
•Back to Wall•Back to Line
Position RegistrationOur Favorite, X marks the spot
Position RegistrationOur Favorite, X marks the spot
•Back to Wall•Back to Line•Advance to Line
Position RegistrationOur Favorite, X marks the spot
Position RegistrationOur 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.
Dependent Threads & Synchronizationthrowing 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!•2 Slow Motion Video How it's supposed to work.MP4•3 Slow Motion Video How it sometimes failed.MP4•4 Slow Motion Video How we fixed it.MP4
Dependent Threads & Synchronizationthrowing the newspaper while riding your bike
Dependent Threads & Synchronizationthrowing the newspaper while riding your bike
•Our Grey Balls mission from Climate Connection really showed smoothness of dependent threads.•5 Philip & Jacob 400 point run - FLL First Lego League 2009 Climate Connections Robot Run.mp4
Dependent Threads & Synchronizationthrowing the newspaper while riding your bike
Master Programs/Menus/ScriptingYour wish is my command
•We use a Master Program– We have a plan and a script– FIRST changed the rules because of the
Cougars's mission checklist!
Master Programs/Menus/ScriptingYour wish is my command
Master Programs/Menus/ScriptingYour wish is my command
•We use a Master Program– We have a plan and a script– FIRST changed the rules because of the
Cougars's mission checklist!– Our Master Program helps us follow our plan
and do it quickly
Master Programs/Menus/ScriptingYour 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
Master Programs/Menus/ScriptingYour 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
Master Programs/Menus/ScriptingYour wish is my command
Master Programs/Menus/ScriptingYour wish is my command
•Now Check out a Full Featured Sequencer...
Master Programs/Menus/ScriptingYour wish is my command
Master Programs/Menus/ScriptingYour 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”
Master Programs/Menus/ScriptingYour wish is my command
Master Programs/Menus/ScriptingYour wish is my command
TimersWhen will this match be over?
•Here's how we used a timer in our master program during Climate Connections
TimersWhen will this match be over?
TimersWhen will this match be over?
Miscellaneous
TIME is your most valuable resource
Make choices that put you in CONTROL
Miscellaneous
60ish blocks per program
At roughly 60 blocks per program the NXT-G editor will start to get really flakey
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.
Miscellaneous
Innovate Early
Consolidate Late
Miscellaneous
Version control(can use “Pack and Go”)
Backup solution (can use 7-Zip)
Resources• http://www.cougarrobot.com• http://nxtasy.org• http://www.teamhassenplug.org/• http://www.teamhassenplug.org/NXT/NXTGTips/• http://www.teamhassenplug.org/NXT/NXT-GCodeIndex.html• http://mindstorms.lego.com/nxtlog/ProjectDisplay.aspx?
id=c3dcfabe-9802-444d-8b76-c7e23d41f9b8• http://www.nxtasy.org/repository/nxt-g-blocks/•Brian Davis Ph.D., Adjunct Assistant Professor at Indiana University South Bend, & LEGO MDP
Put It All Together!
Our Thanks to...