| For ROBOTC CORTEX Sensor functions, check out the CORTEX Sensor Functions page!
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The VEX 2.0 Cortex is equipped with 20 sensor ports. There are 8 Analog Sensor Ports and 12 Digital Sensor Ports. Note that unlike the VEX - PIC microcontroller, all Analog sensors must be in Analog ports, while all Digital sensors must be in Digital ports.
There are a variety of functions and variables used for configuring these ports and accessing their values.
Configuring sensors can be complicated. ROBOTC has a built-in wizard that can be used to configure the VEX 2.0 Cortex sensors. The wizard contains a number of PC windows that allow you to set the following fields for the sensor:
- The variable name that you want to assign to the sensor. Using a name like “leftBumper” makes for a more readable program than 'dgtl3'!
- The port that the sensor is connected to.
- The type of sensor – touch, quadrature encoder, sonar, line follower, etc.
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| There are 5 main types of Analog Sensors for the VEX CORTEX:
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Light
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Potentiometer
Returns an analog value between 0 and 4095 (although mechanical stops my limit the values to between 5 and 4092).
#pragma config(Sensor, in1, potentiometer, sensorPotentiometer)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
task main
{
wait1Msec(2000); // wait 2 seconds before exectuing following code
bMotorReflected[port2] = true; // reflects direction of motor on port 2
while(true) // infinite loop:
{
clearLCDLine(0); // clear the top VEX LCD line
clearLCDLine(1); // clear the bottom VEX LCD line
setLCDPosition(0,0); // set the VEX LCD cursor the first line, first space
displayNextLCDString("Potentiometer:"); // display "Potentiometer:" on the top line
setLCDPosition(1,0); //set the VEX LCD cursor the second line, first space
displayNextLCDNumber(SensorValue(potentiometer)); // display the reading of the potentiometer sensor
wait1Msec(50); // wait 50 milliseconds to help display properly
}
} |
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Line Follower
The Light sensor, also known as the Reflection sensor, returns values ranging between 0 and 4095. 0 is the lightest reading and 4095 is the darkest.
#pragma config(Sensor, in1, lineFollower, sensorLineFollower)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
task main
{
wait1Msec(2000); // wait 2 seconds before exectuing following code
bMotorReflected[port2] = true; // reflects direction of motor on port 2
while(true) // infinite loop:
{
if(SensorValue(lineFollower) < 950) // if the lineFollower sensor reads a value less than 950:
{
// turn left:
motor[port2] = 50; // motor on port 2 is run at power level 50
motor[port3] = 0; // motor on port 3 is stopped at power level 0
}
else // lineFollower sensor reads a value greater than or equal to 950:
{
motor[port2] = 0; // motor on port 2 is stopped at power level 0
motor[port3] = 50; // motor on port 3 is run at power level 50
}
}
} |
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Gyro
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Accelerometer
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