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Cool Project: VEX IQ Quadruped

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Repost from BotBench

In my last post about the VEX IQ building system I had a small video featuring my VEX Quadruped.  I’ve done a bit of work on it since then and the gait has been greatly improved.  I also added some small rubber feet on the legs.  These are the traction links from the Tank Tread & Intake Kit.

Due to the heavy load that these motors are under, you may find that the batteries will run down a bit faster than you’re used to.  Good thing the kits come with a charger!

Up next on the agenda is to add some sensors and have it interact a bit more.  The little wheels on the bottom are not used when it is walking; the robot is fully lifted off the ground.

I’ve taken some picture, so you can see how it’s put together.  These should be enough to copy the design, should you wish to.  You can download the program to run this here: [LINK].  Note that part of the code is based on the excellent guide on creating an Arduino based quadruped: [LINK].

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Repost from BotBench

 

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Written by Xander Soldaat

June 3rd, 2014 at 11:17 am

CMU Robotics Academy Professional Development Classes are Filling Up Quickly!

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PD Blog

The ROBOTC Professional Development courses offered by Carnegie Mellon Robotics Academy are filling up quickly. Register today to make sure you get into your preferred course!

On-Site Training

Take one of our week long on-site courses in Pittsburgh, PA at the National Robotics Engineering Center (NREC). NREC is part of the Carnegie Mellon University Robotics Institute, a world-renowned robotics organization, where you’ll be surrounded by real-world robot research and commercialization.

ROBOTC for LEGO / TETRIX
July 7 – 11, 2014
July 28 – August 1, 2014

ROBOTC for VEX CORTEX
August 4 – 8, 2014

Online Training

Enjoy the convenience of taking Robotics Academy courses without leaving your own computer workstation with our online classes.

ROBOTC Online Training for TETRIX
July 21st – 25th, 2014
Monday – Friday for 1 Week
3-5:00pm EST (12-3:00pm PST)

ROBOTC Online Training for VEX CORTEX
July 28th – August 1st, 2014
Monday – Friday for 1 Week
3-5:00pm EST (12-3:00pm PST)

ROBOTC Online Training for VEX IQ
August 11th – 15th, 2014
Monday – Friday for 1 Week
3-5:00pm EST (12-3:00pm PST)

The Carnegie Mellon Robotics Academy’s Professional Development courses provide teachers and coaches with a solid foundation for robot programming in the respective languages, and experience in troubleshooting common student mistakes. It also focuses on identifying and extracting academic value from the naturally occurring STEM situations encountered in robotics explorations. All participants who complete the course will receive a Robotics Academy Certification. Find out more here – Robotics Academy Professional Development

Written by Cara Friez

June 2nd, 2014 at 11:15 am

Expedition Atlantis iPad App Available Today!

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Flat Pad Mini Mockup

 

To celebrate the launch, Expedition Atlantis is priced at $1.99 for a limited time! Download today from the iTunes store!

 
The Robot Virtual Worlds team is proud to announce the availability of their new iPad app, Expedition Atlantis. Expedition Atlantis immerses you in a world of underwater robotics exploration, where you must solve math problems to control your robot’s movement in the deep seas ruins.
 


 

btn_standards_rollThe math problems will help students understand proportional relationships and the basics of robot programming. It is designed for the student to learn as they play, and includes in-game tutorials to help them play along. As you play, you’ll be able to customize your robot, and also earn achievements through our Computer Science Student Network (CS2N). A full teacher’s guide for using Expedition Atlantis in the classroom is available at www.robotvirtualworlds.com/ipad.
 
 

btn_research_rollExpedition Atlantis was tested in a number of diverse classroom settings. In every case, students had measurable gains in proportional understanding, as well as increased interest in math and robotics. Read more about the research here!
 
 
 
 

As you play along with the app, please send us your feedback at support@robotvirtualworlds.com! We’d love to know what you think and any improvements we can make.

Written by Vu Nguyen

May 29th, 2014 at 9:57 am

ROBOTC Omniwheel Article in Design & Technology Practice Magazine

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twitterDT_logo Xander Soldaat, ROBOTC Project Contributor, was recently asked to write a robotics article for the British Design & Technology Practice magazine.  He wrote about the basics of programming a LEGO MINDSTORMS NXT omniwheel based platform, and the mathematics behind it using ROBOTC as the programming language.  

You can read a copy of the article here: [LINK].

The D&T Association is the organization that represents the interests of  Design and Technology (STEM) teachers throughout the UK.

 
 

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Written by Cara Friez

May 13th, 2014 at 10:26 am

Student POV: Robovacuum

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Alexis and Noah are back again with another Student POV! This time, sharing how they programmed a robovacuum in ROBOTC Graphical Language for the VEX IQ platform.

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In this challenge, we programmed the Vex IQ robot to perform a task that was based off of the robotic vacuums that vacuum autonomously while avoiding obstacles. Our challenge was to program a robot that would perform like a robotic vacuum. Therefore it would be able to move autonomously while avoiding obstacles.

We started our program by putting in a repeat forever loop. This means that our program will continuously run until we stop it with the exit button on the Vex IQ brain.

RoboVacuum1

We then made a plan on what we needed our robot to do. Within the repeat loop, we had to put an “if else” statement. An if else statement is a command that makes a decision based on a condition. With our program, our condition is the bumper sensor. The robot checks the condition of whether or not the bumper sensor is depressed. If the bumper sensor is not depressed, it will run the command inside the curly braces of the if statement. If the bumper sensor is depressed, it will run the commands inside the brackets of the else statement. We had to put this statement inside a repeat forever loop because without it, it would only make this decision once.

RoboVacuum2

We then had to decide what task the robot was to perform when the sensor was depressed. So we set up commands within the curly braces of the else statement shown here.

RoboVacuum3

Below is an image of the final program.

RoboVacuum4

Now our robot is able to move around autonomously while avoiding different obstacles!

- Alexis and Noah

 
 

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Written by Cara Friez

April 17th, 2014 at 8:30 am

Student POV: Slalom Challenge

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It’s Danica and Jake, back again! This time, teaching people about the slalom challenge, in ROBOTC Graphical Language for the VEX IQ platform. The challenge is to line follow using the VEX IQ color sensor without hitting the “mines”, also known as the cups.

#5

In the graphical organizer, to line follow on the left side of the line, all you have to do is use the block, lineTrackLeft, to follow the right side you have to use lineTrackRight.

#1

In this block, there are 3 boxes, one for the threshold, the second for the speed of the left motor, and the last box is for the speed of the right motor. In this line of code, the threshold of 105, the robot’s left motor is set to go at 50% power, and the right motor is set to go at 15% power.

This block has to be included into a repeat loop to make sure the robot continues to do this command for an allotted amount of time.

#2

The repeatUntil loop has many options for how long the loop should run. For this challenge, we decided to use the timer.

#3

The timer is set at 7000 milliseconds or 7 seconds, so it has enough time to make it through the slalom. Our finished program looks like this:

#4

Now you can line follow in any challenge you would like, the possibilities are endless!

 
 

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Written by Cara Friez

April 2nd, 2014 at 7:47 am

Student POV: Robo 500 Challenge

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Hi, we’re Alexis and Noah, two eighth grade students at Hopewell Memorial Junior High School. Earlier this week, we did the Robo 500 challenge. To write the programs, we used the recently released ROBOTC Graphical software for the VEX IQ. The goal of the challenge was to complete two laps around a Vex IQ storage bin.

ROBO 500 picture

We completed the challenge by using timing and degree measurements. The first step was to get the robot to move forward. For this, we would use a basic motor command.

Photo 1

In ROBOTC Graphical, it gives you the option to choose the values in which you want your motor to run by, such as time and rotations. In this challenge, we chose time.

Photo 2

From there, we experimented with different time values until we found the timing that was needed to finish the side of the challenge before the turn. Through testing, I found that 3.7 seconds covered the distance needed.

Photo 3

Now, what was left was the largest challenge of the program, the turn. Timing a turn can be challenging on seconds alone. So, I used degree turns. I started with a 180 degree, which brought me around about 45°. Due to the drift of the robot when it moves forward, I had to make the turn slightly less than double the 180° turn. I settled on a value of 300°.

Photo 4

Once the values were established, the rest was just repeating the commands so the robot would go around the whole box. Here is an example of my final program.

Photo 5

We were then thinking about how the turns were a hassle with trial and error, and contemplated a better way to turn. So, we decided to use a gyro sensor to have the most accurate turns possible.

To start out the program we had to reset the gyro sensor so the sensor could record the degrees from zero.

Photo 6

From here we moved forward to the end of the course for time, and we moved forward for about four seconds. Then we used a while loop. A while loop is set to check a condition and while the condition is true, it performs what is inside of the curly braces of the while loop. In this case the condition is while the gyro sensor value is less than 90 degrees.

Photo 7

We would then repeat these actions until the robot has made two full laps around the course. Here is the program for one lap. To do two laps I would just repeat this program again.

Photo 8

We were able to finish our programs efficiently in a short amount of time due to the design of the new graphical programming. This new design enables you to drag over commands from the function library; such as, moving forwards and backwards, turning, and sensor commands while avoiding the hassle of painstakingly typing each command. This reduces the time spent on each program and allows us to speed up the pace at which we program, and we are able to complete challenges in a shorter amount of time.

Photo 9To the left, we have an image of the function library and a depiction of what would happen if you dragged a command into your program. The command would line up with the next available open line and would give you options as to what values you wanted to program your robot with.

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If you’re a student who would like to contribute to the blog, let us know at socialmedia@robotc.net.

 
 

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Written by Cara Friez

March 26th, 2014 at 7:30 am

Student POV: Labyrinth Challenge

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We are really excited to introduce a new blog series called Student POV! This series will feature students giving their perspective and advice for programming in ROBOTC. If you’re a student who would like to contribute to the blog, let us know at socialmedia@robotc.net. Welcome our first student bloggers, Danica and Jake!

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Hi it’s Danica and Jake, and we just completed the Labyrinth Challenge. We are both 8th grade students attending Hopewell Memorial Junior High. We both used VEX IQ Graphical Programming Language to complete this challenge since it is a new software recently released by ROBOTC. The first challenge we had to accomplish was the labyrinth challenge. The labyrinth is a square, where the robot has to travel from the starting point, to the ending point by doing a series of basic commands.

#1

Our first task was to make our robot move forward.

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This block is telling the robot to go forward at 50% power for 5 rotations, but you can also set the robot to move for degrees, milliseconds, seconds, and minutes.

Our second task was to make the robot turn left.

#3

When turning left, you can use multiple commands such as degrees, rotations, milliseconds, seconds, and minutes. You can also use this for turning right.

One problem while programming for this challenge was making 90 degree turns. To get a perfect 90 degree turn, with timing, you had to go through a lot of trial and error. After figuring out the perfect turns, based on timing, the time for moving forward, and the stops to prevent drifts, we had to string all the commands together to form the program for the challenge. This what the finished program looks like:

#4

An easier way to perform more accurate turns, is with the use of the gyro sensor. The gyro sensor allows you to count how many degrees you turn. This simply means that you can actually tell the robot to make an accurate turn. You also have to remember to reset the gyro after every use, and it will make this program a lot easier.

To reset the gyro you have to use this block:

#5

The finished program with the gyro sensor looks like this:

#6

In this program we used the setMotor command instead of turnLeft or turnRight. This command is better to use in the while loop since you only have to set the speed of the motor. The condition in the while loop determines how long the robot turns. As a result, we just need to set the motor speed with the setMotor command.

A cool feature you can use in RobotC is commenting out your code. You can also do this in the VEX IQ Graphical Organizer. It is much easier though since you only have to click the number on the block of code you want to comment out.

Commenting looks like this:

#7

These comments allow you to test only one turn out of the whole code, which is very useful during the trial and error stage.
Now it is time to go try the Labyrinth challenge on your own, either with or without the gyro sensor. Have fun!

 
 

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Written by Cara Friez

March 19th, 2014 at 4:29 pm

A Teacher’s POV: Using the Gyro Sensor

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Programming your robot to make precise turns can be a source of frustration for some students as they begin to learn ROBOTC. Oftentimes, when students are just learning programming, all of the movements of their robots are based on timing. When programming a robot to move forward or backwards, a small error or a small amount of inconsistency can usually be overcome. With turning, however, inconsistencies and small errors can lead to larger errors and the frustration I mentioned earlier.

gyro sensor

At this point, students learn that sensors can be used to improve the movement of their robots. With the VEX IQ, a Gyro Sensor is provided that eliminates any guesswork when it comes to programming your robot to turn.

The Gyro Sensor measures the rotational angle of the robot. If you look at the Gyro Sensor, you will see an arrow that points in a counter-clockwise direction. That is the default positive direction. Therefore, as long as the sensor is mounted flat on the robot it picks up the parallel angle to the ground. The sensor then registers the current position as a zero point. If the robot turns counter-clockwise, it registers as a positive value. If it turns clockwise, the sensor registers a negative value. We can see this applied with the following illustration:

 

Gyro_Sensor--Display

 

We can program the Gyro Sensor using Natural Language or full ROBOTC. To use Natural Language, you just need to make sure that the Gyro Sensor is plugged into port 4. Let’s take a look at some ways to program the Gyro Sensor with Natural Language.

 

measure turnsleft gyro

 

With this program, getGyroDegrees returns the current rotational value of the sensor in units of degrees. When making gyro-based turns, it is best to reset the gyro sensor before each turn, so the resetGyro command is utilized. With the example, we want the robot to turn until the getGyroDegrees command returns a value (from the Gyro Sensor) of 90 degrees. Therefore, we use the repeatUntil command. When we run this program, our robot should make a 90 degree left turn. Note that the robot may turn more than 90 degrees due to drift, which is caused by momentum. If this occurs, just slow down the speed of the motors. That should eliminate the drift.

We can apply the same commands to program our robot to make a right turn.

 

measure turnsright gyro

 

What I did when first showing the students the Gyro Sensor was to have them see the sensor work with the debugger screen. I used a sample program utilizing full ROBOTC with this activity. The sample program we used was in the Gyro Sensor Folder, and it is called Gyro Display Values. The students compiled and downloaded the program. They kept the USB cables plugged into their robots so they could see the values of the Gyro Sensor on the debugger screen. To access the debugger windows, go to the Robot menu, click on Debugger Windows, and then select Sensors.

The students can now run their program, physically move their robot, and see how the values of the Gyro Sensor change via the debugger screen.

The VEX IQ Gyro Sensor is extremely useful and easy to program, and the students have a lot of fun using this sensor.

- Jason McKenna

 
 

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Written by Cara Friez

February 24th, 2014 at 1:16 pm

ROBOTC Graphical Programming Preview Available!

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clickanddragAfter months of work, the ROBOTC Development Team is excited to announce the availability of the first preview release of ROBOTC Graphical Language for the VEX IQ platform. This new interface will allow you to program robots from inside ROBOTC with easy-to-use graphical blocks that can be drag-and-dropped to form a program. Each block represents an individual command from the “text-based” ROBOTC and Natural Language. The new click and drag interface along with the simplified commands of Natural Language will allow any robotics user to get up and running with programming their robots as soon as possible.

The first release of ROBOTC Graphical Language is available for the VEX IQ platform for use with the standard VEX IQ Clawbot and Autopilot Robots. All ROBOTC 4.0 users will receive access to the new Graphical Language interface at no additional cost! Our plans over the next few months are to extend the Graphical Language interface to all of ROBOTC’s support platforms, including the Robot Virtual Worlds technology. You can download the preview version today at http://www.robotc.net/graphical/.

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The new ROBOTC Graphical programming environment adds a number of new features we’d like to highlight:

Graphical Language Command List (Drag and Drop)

GraphicalFunctionBar
With the new ROBOTC Graphical Mode, we’ve updated our “Functions Library” to match the style of the Graphical interface. This new mode will allow you to drag and drop blocks of code from the “Graphical Functions” menu into your program to get your program created even faster!

New Language Commands for Easier Programs

NewLanguageCommands
We also added some new language extensions to both ROBOTC and Natural Language; such as the simplistic “Repeat” command. Prior to the Repeat command, users would need to copy and paste large sections of code or use a looping structure (like a ‘for’ or ‘while’ loop) in order to have a set of actions repeat a number of times. With the new “Repeat” command, however, users can simply specify how many times they would like the code to run, with no complex coding required. And users who wish to make an “infinite loop” can use the “repeat forever” command to accomplish this task quickly!

Commenting Blocks of Code!

CommentingOut
Another awesome tool that we’ve implemented in ROBOTC Graphical is the “comment out” feature. You can now comment out an entire line of code just by clicking on the block’s line number. The robot ignores lines of code that are “commented out” when the program runs, which makes this feature very useful when testing or debugging code. This new tool is unique to ROBOTC’s Graphical interface.

Updated and Simplified Toolbar

Toolbar
Sometimes navigating menus as a new user can be a little overwhelming – so many options to choose from and lots of questions about what each option is used for. To help with this, we’ve redesigned ROBOTC’s toolbar to make getting up and running easier. We put the most used commands on a larger toolbar so new users have an area to easily click to download firmware, send their code to their robot, and run their programs without having to use the standard menu interface.

Convert to Text-Based Natural Language

ConvertToText ConvertToText2
Because each Graphical Natural Language block corresponds to a real ROBOTC or Natural Language function, users will be able to graduate from Graphical Programming to full text-based programming with the press of a single button. This allows users to naturally transition from Graphical Natural Language to the text based Natural Language (or ROBOTC), without having to worry about manually converting the code line-by-line!

Teacher’s Guide and Sample Programs

UsersGuide
The new graphical interface includes over 50 new sample programs to help you get up and running with working examples and demo code. In addition, we’ve also developed a 30+page guide to walk new (and existing) users through the new Graphical Programming interface and getting started with the VEX IQ platform. You can find a link to the programming guide here and also on the ROBOTC Graphical page.

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This initial release is only the beginning and we’re planning on improving the software with more features and flexibility over the coming months.

Future Support/Features:

  • Copy and Paste
  • Undo/Redo Support
  • Support for custom robots/configurations via an updated “Motors and Sensor Setup” interface.
  • Dynamic Loop and Command Parameters (based on Motors and Sensor Setup / Robot Configuration)
  • Tooltips, Contextual Help, and more!

Click here to download the installer!

Let us know what you think! If you have any feedback or questions, please send them along via the ROBOTC’s VEX IQ forums.

 
 

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