Advanced VEX IQ ROBOTC Activity Guide

Build VEX Clawbot IQ

Animated VEX IQ Clawbot IQ Instructions

ROBOTC Intermediate Programming with the VEX IQ

Getting Started

If you are having problems with your robot follow these steps:

                                                        1. Check your program to be sure that you are using the correct                                                                  pragma statement and check the Motors and Sensor Setup to                                                                  be sure you have selected the Clawbot IQ with Sensors

                                                        2. Unplug the USB cable and plug it in again

                                                        3. Turn off/on your robot

                                                        4. Remove then replace the battery

                                                        5. Download the Firmware

                                                        6. Run the VEXos Utility

                                                        7. Ask Mr. Merrill for help

Setup

                1. About VEX IQ 

                        A1: Watch Video (Show Mr. Merrill that you answered the questions on your computer)

                2. Updating VEX IQ System Firmware SKIP THIS SECTION

                3. Downloading ROBOTC Firmware

                        A1: Turn on Clawbot

                        A2: Download ROBOTC firmware

                        A3: Turn off Clawbot

                        A4: Remove battery from the Clawbot

Getting Started (Physical Robot)

                1. Opening a Sample Program

                        A1: Save the sample program movingforward.c to your period folder

                        A2: Open the program MovingForward.c from your period folder

                2. Download and Run (Physical)

                        A1: Download and run the program MovingForward.c on the Clawbot at your computer tethered and on                                top of a cube to prevent movement (Ask Mr. Merrill for a cube)

                        A2: Run the program MovingForward.c on one of the competition tables.

                3. Motors and Sensor Setup (Physical)

                        A1: Edit the motors shown in the video (Motors 1, 12, 6, & 5) and rename or name them accordingly

Under Construction: Not Available Yet

Getting Started (Virtual Robot)

                1. Opening a Sample Program

                        A1: Open the program MovingForward.c from your period folder

                2. Download and Run (Virtual)

                        A1: Login as Guest and show Mr. Merrill you have opened the program.

                             A2: Run the program MovingForward.c on the virtual robot using the First Program

                   3. Motors and Sensors Setup (Virtual) SKIP THIS SECTION

                   4. Camera Controls in the Virtual Worlds

                            A1: Move the camera so you can see the front of the Clawbot

                   5. Measurement Toolkit

                            A1: Create three measurement points and delete them individually using the First Program

Motion

Basic Robot Motion

                    1. Robot Configuration SKIP THIS SECTION

                    2. Basic Robot Movement and Mini Challenges

                            A1: Create and save the program ForwardandBackward.c in the appropriate period folder on the                                              desktop

                            A2: Run the program ForwardandBackward.c on the physical robot. Robot travels forward and                                               backwards

                            A3: Try It 1! Modify the parameters of the program ForwardandBackward.c so that the robot goes                                          forward by 3 seconds and backwards by 720 degrees

                            A4: Try It 2! Follow the instructions to produce an error in your code and attempt to download the                                               program to your robot. Make a yellow error and a red error.

                            A5: Mini Challenge 1: Power vs. Distance Open the file labeled Mini Challenge PDF copy and complete                                    the chart shown. Create and run the program PowerVDist.c on the physical robot. Measure the                                           distance traveled using 4 different speeds (25, 50, 75, & 100) three different times. Use 3 rotations                                       as the distance the robot will move. 

                            A6: Mini Challenge 2: Wind Sprints Level 1 Create and run the program WindSprintsLv1.c on the                                           physical robot. (Ask Mr. Merrill to assign challenge A, B, or C)

Moving the Arm

                        1. Robot Configuration SKIP THIS SECTION

                        2. Arm Control and Mini Challenges

                            A1: For this section you will need to move the claw arm, and at certain times you may feel like you want                                      to move it by hand. DO NOT MOVE THE CLAW BY HAND! You can damage the motor. Instead you                                   will need to use two program that will move the claw up or move the claw down. The two programs                                      are below and you will need to download them to your period folder.

                                    Claw Down Program        Claw Up Program

                                   After you click one of these, you will need to download it by pressing the downward arrow with the                                        line underneath. You can ask Mr. Merrill, if you are having trouble.

                            A2: Create and run the program ArmControl.c on the physical robot. Robot arm will rise 90 degrees. By                                    90 degrees, I do not mean to use 90 degrees in your program. I want the arm to be pointing straight                                    up.

                            A3: Modify the program ArmControl.rbc to make the robot arm rise 90 degrees and lower to its starting                                   position on the physical robot 

                            A4: Try It 1! Modify the program ArmControl.c to find the upper and lower limits of the arm. Be careful                                       with this program. You could damage the motor or the robot by rotating it to far in either direction. Be                                    sure to exit the program ( press X on the robot brain), when you see that you have rotated too far in                                       either direction

                            A5: Mini Challenge 1: Wind Sprints Level 2 Create and run the program WindSprintsLv2.c on the                                              physical robot. (Ask Mr. Merrill to assign challenge A, B, or C)

Turning

                        1. Robot Configuration SKIP THIS SECTION

                        2. Turning in Place and Mini Challenges

                             A1: Create and run the program TurningInPlace.c on the physical robot. The robot will rotate to the                                            right for 2 rotations

                             A2: Try It 1! Create and run the program SwingTurn.c on the physical robot. Use only the moveMotor                                        command on one motor to accomplish this maneuver.

                             A3: Mini Challenge 1: 90 Degree Right Turn Modify the program TurningInPlace.c to make the robot                                       turn 90 degrees to the right.

                             A4: Modify the program TurningInPlace.c to make the robot turn 90 degrees to the left. (Hint: Make                                           the motor speed negative)

                             A5: Mini Challenge 2: Mini Maze Create the program MiniMaze.c to make the robot navigate the                                               maze on the virtual world. First select virtual robot in the compiler target. Under the Window tab                                            Select Virtual World to Use as RVW Level Builder. You will need to select the Mini Maze Challenge                                       from the VEX IQ folder in the W: drive to run your challenge.

Using the Repeat Loop       

                        1. Robot Configuration SKIP THIS SECTION

                        2. Using the Repeated Loop and Mini Challenges

                                A1: Create and run the program MoveLoop.c on the physical robot. Test this program from the first part of                                  the video to see if the distance and turn is correct

                                A2: Modify the program MoveLoop.c to perform a loop 4 times and travel around the square box

                                A3: Try It 1! Modify the program MoveLoop.c so that the curly brace is on the same line as the repeat                                          text. Does it change the program?

                                A4: Try It 2! Modify the program MoveLoop.c so that it says "forever" inside the parentheses.

                                A5: Mini Challenge 1: Circle Maze SKIP THIS CHALLENGE

                           A6: Mini Challenge 2: Circle Maze Rewind SKIP THIS CHALLENGE

Commenting

                        1. Robot Configuration SKIP THIS SECTION

                        2. Commenting

                            A1: Open the program CommentDemo.c from the VEX IQ Folder on the sh110 (W:) Drive and show Mr.                                   Merrill how to change a comment into actual code.

                            A2: Open the program MiniMaze.c from the previous lesson. Apply comments to the beginning of                                          the program to describe the program in general terms. Also apply comments to each line of code to                                      describe what happens when it is executed

                            A3: Mini Challenge 1: Code Exchange SKIP THIS CHALLENGE

                            A4: Mini Challenge 2: Time Capsule SKIP THIS CHALLENGE

Motion Capstone Challenge 

                        1. Angular Maze Create and run the program AngularMaze.c on the virtual robot. You will need to select                                 Browse and go to the SH110P7 W: drive, select the VEX IQ folder and select Motion Capstone                                             Challenge. Robot should pick up the cube at the checkpoint and drop the block at the finish. You might                              be able to get the claw to pick up the cube but it is difficult. Don't worry if you are not able to                                     transport the cube. You will need to figure out how to use the gripper on your robot. Start by finding out                              what motor controls the gripper. Below is some more information to help you control the gripper.

Sensing

Encoders

                        1. Robot Configuration SKIP THIS SECTION

                        2. Forward for Time and Mini Challenges

                            A1: Create and run the program ForwardForTime.c on the physical robot. Clawbot drives forward for                                      3 seconds and stops

                            A2: Try It 1! Copy the code to create the program Forward.c and run on the physical robot. Show                                            Mr. Merrill what happens.

                            A3: Mini Challenge 1: Turn of Time Create and run the program TurnOfTime.c on the physical robot.                                          Clawbot needs to turn exactly 90 degrees using milliseconds

Bumper           1. Robot Configuration SKIP THIS SECTION

Switch             2. Forward Until Touch and Mini Challenges

                            A1: Create and run the program ForwardUntilTouch.c on the physical robot. Clawbot will drive                                                   forward until the bump switch is pressed.

                            A2: Copy the following Boolean Logic Chart in your composition notebook. Do not copy the Sample                                           Comparison or Result columns:

                            A3: Try It 2! Forward Until Release Create and run the program ForwardUntilRelease.c on the                                                   physical robot. Clawbot should move forward while the bumper switch is pressed and stop when it is                                    released.

                            A4: Mini Challenge 1: Hub Drill Create and run the program HubDrill.c on the physical robot. Clawbot                                       will touch all four walls and return to the center.

                            A5: Mini Challenge 2: Shifting Maze Hands On Create and run the program ShiftingMazeOn.c on the                                      virtual robot. Clawbot must successfully navigate through both Shifting Maze #1 and Shifting Maze #2                                   found in the VEX IQ folder on the W: drive.

Distance         1. Robot Configuration SKIP THIS SECTION

Sensor            2. Move Until Near and Mini Challenges

                            A1: Create and run the program ForwardUntilNear.c on the physical robot. Clawbot will need to run in                                       reverse to move forward and will stop 30 cm from the wall. For the distance sensor you must use the                                    setDistanceMaxRange statement as the first line of code in order for it to work properly:

                            A2: Try It 1! Create and run the program BackwardUntilFar.c on the physical robot. Clawbot will back                                       away from the wall and stop when it is 50 cm away

                            A3: Mini Challenge 1: Shifting Maze Hands Off Create and run the program ShiftingMazeOff.c on the                                      virtual robot. Clawbot must successfully navigate through the maze without touching any                                                       walls. Clawbot must successfully navigate through both Shifting Maze #1 and Shifting Maze #2 found                                   in the VEX IQ folder on the W: drive.

Gyro                1. Robot Configuration SKIP THIS SECTION

Sensor            2. Turn For Gyro Rotation and Mini Challenges

                            A1: Create and run the program TurnForGyroRotation.c on the physical robot. Clawbot will turn in place                                    to the left for slightly more than 90 degrees.

                            A2: Modify the program TurnForGyroRotation.c on the physical robot to make the clawbot turn exactly                                    90 degrees to the left.

                            A3: Modify the program TurnForGyroRotation.c on the physical robot to make the clawbot turn exactly                                      90 degrees to the right.

                            A4: Mini Challenge 1 Gyro Hunt Create and run the program GyroHunt.c on the physical robot.                                                 However, do not follow the diagram pictured on the Carnegie Mellon website. Use the Angular Maze                                    template to drive from the start and end at the finish. All turns must be made using the gyro!                                      

Color                1. Robot Configuration SKIP THIS SECTION 

Sensor             2. Conditionals and Mini Challenges

(Conditionals)     A1: Ask Mr. Merrill to modify the clawbot to have the color sensor facing downwards  

                             A2: Create the program ColorReader.c by copying the program displayed below. Be sure to set the                                           colorDetector to ColorName in the Motors and Sensor Setup. The program will display the color that                                    it is detecting. You will need this information to properly program your robot for this section. Check                                       the color tiles and show Mr. Merrill.

                                    Motor and Sensor Setup

                            A3: Create and run the program TurnIfGreen.c on the physical robot. Robot will turn when it detects the                                    color GREEN. DO NOT USE THE COLOR RED. Use the following code at the beginning of any                                           program using the color sensor. The sleep is needed to be sure that the color sensor is properly                                           activated and ready to detect your color.

                            A4: Create and run the program GreenLeftElseRight.c on the physical robot. Clawbot will turn left on                                       GREEN and right on any other color

                            A5: Try It 2!  Modify the program GreenLeftElseRight.c on the physical robot. Clawbot turns right when                                    it detects GREEN and turns left when it detects BLUE.

                            A6: Mini Challenge 1: Signal Reader Create and run the program SignalReader.c on the physical robot.                                   Clawbot will sense a colored tile in the middle of the square. After sensing the color the                                                          robot should drive to the proper area and stop when the touch sensor bumps the wall by the proper                                      color.

                            A7: Mini Challenge 2: Ladder Drill SKIP THIS CHALLENGE

Color            1. Robot Configuration SKIP THIS SECTION

Sensor         2. Repeated Behaviors and Mini Challenges

Repeated            A1: Create and run the program SimpleMazePart1.c on the physical robot. Clawbot will turn right if 

Behaviors                  there is an object in front of it or move forward.

                            A2: Modify the program in Activity 1 and rename it SimpleMazePart2.c on the virtual robot. Clawbot                                          will move through a maze from start to finish. Select the Simple Maze Challenge on the W: drive.

                            A3: Modify and run the program from Activity 2 on the physical robot. Clawbot will move through the                                           maze and stop when it detects the color YELLOW (not BLUE). Ask Mr. Merrill to modify the clawbot                                      for this challenge.

                            A4: Mini Challenge 1: Color Hunt Create and run the program ColorHunt.c on the physical robot.                                              Clawbot will move through the color maze.                                       

                               A5: Mini Challenge 2: Recycle SKIP THIS CHALLENGE

Touch LED     1. The Touch LED is both a bumper switch and a multicolored light.

                            You can use it just as you would a bumper switch. To use it as a bumper switch the following code can                                be used:

                            You can also set the color displayed by the Touch LED using the following code:

                            The different colors colors that can be displayed by the Touch LED are found below:

                        2. Touch LED Uses

                            A1: Try It! 1Color Bumper Create and run the program ColorBumper.c on the physical robot. Clawbot                                will display the color RED when the robot is stopped and GREEN when it is moving. The description                                below shows ROBOTC as a graphical language. They are basically the same, but there are some                                differences. You will not be able to use the setMultipleMotors command shown in the example                                below. You must use what you have learned in previous lessons to setMotors. Furthermore, when                             you use the waitUntil command, you will not use getBumperValue(bumperSensorNL). Instead,                                    use getTouchLEDValue(touchLED).

                            A2: Emergency Stop! Create and run the program EmergencyStop.c on the physical robot. Clawbot will                                   move forward and stop when the TouchLED sensor is pressed. Once the button is pressed again the                                   robot will resume it's program. The Touch LED should be GREEN when it is moving and RED when it                                   stops.

                            A3: Mini Challenge 1: Shifting Maze LED Create and run the program ShiftingMazeLED.c on the                                              physical robot. Clawbot will recreate the challenge from the Distance Sensor Mini Challenge: Shifting                                   Maze Off (Activity 3). However, you must program the clawbot to start with the Touch LED displaying                                   RED at the start. The robot should begin the maze only when the Touch LED is pressed. Once it is                                      pressed the Touch LED color should turn to GREEN. After sensing the first wall it should change to                                      YELLOW. After sensing the second wall it should change to BLUE. After sensing the third wall it                                          should change to DARK ORANGE, and when it reaches the finish it should change back to RED.

While                        1. To access information about While loops click the link below:

Loops                                                        While Loops

Display                     1. To display text on your brain use the link:

Text                                                            DisplayText

Multi-Tasking           1. This will allow you to run more than one program at a time. Here is how to access a sample program:

                                            Go to File

                                            Click on Open Sample Program

                                            Open the Multitasking Folder

                                            Click on VEX IQ Multitasking Demo.c

Play Sounds