Difference between pages "Tutorials/Arduino Projects/RC car Hacking Project/Controlling the motors" and "Creating an RBC file"

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== Interfacing the Arduino ==
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<yambe:breadcrumb self="Creating an RBC file">Main|Main page</yambe:breadcrumb>
  
The first thing we need to do before we can connect the motors is power the Arduino. To power the Arduino from the RC car power supply using the wires we soldered earlier, we will use the Arduino's 'Vin' pin which allows it to be powered from an external source without using the power plug.
+
{{tl|1|}}
  
Set the circuit up like the diagram below. We use the breadboard as we will need the raw battery power supply later to power the motors.
+
== What is an RBC file? ==
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
|An RBC file is a special type of XML file that can be used with ROBOTC v3.52 or later. Once an RBC file is created properly, you will be able to configure ROBOTC's Platform Type, Compiler Target, Menu Level, and other important settings all with the click of a button. You can even configure the RBC program to load a user program and automatically download it to a robot or Virtual World of your choosing.
 +
|-
 +
|}
  
 +
== How to create an RBC file ==
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
|There are several steps required in order to create a working RBC file. You will need an activated installation of ROBOTC and a text file editor installed on the computer. For this demonstration, we used ROBOTC for VEX Robotics 4.0 and Notepad++ as our text file editor.
 +
|-
 +
|'''1)''' Create a new file in your text file editor (generally found under the 'File -> New' menu option).
 +
|-
 +
|'''2)''' Save the file with a custom name and a '.rbc' file extension. You may also need to change the 'File Type' dropdown menu to 'All Files', depending on the text editor settings.
 +
|-
 +
|'''3)''' Add the following parameters to the file:
 +
*<?xml version="1.0" encoding="UTF-8"?>
 +
*<RBCVersion>1.0.0</RBCVersion>
 +
*<Platform></Platform>
 +
*<CortexDLMethod></CortexDLMethod>
 +
*<CircuitBoard></CircuitBoard>
 +
*<MenuLevel></MenuLevel>
 +
*<CompilerMode></CompilerMode>
 +
*<CompileAndDownload></CompileAndDownload>
 +
*<VirtualWorldIndex></VirtualWorldIndex>
 +
*<SourceFileName>.c</SourceFileName>
 +
*<RVWParameters></RVWParameters>
 +
*<SourceCode></SourceCode>
 +
|-
 +
|'''4)''' Modify the parameters to fit the settings for the program. For a full listing of all of the available parameters, see the 'XML Parameters' section below.
 +
|-
 +
|'''5)''' Save the RBC file.
 +
|-
 +
|'''6)''' Manually open the RBC file icon by double clicking on it. If the file is configured correctly, ROBOTC should open with the specified parameters using the specified source code. If the program does not open correctly (or opens with the wrong settings), double check the parameters for accuracy.
 +
|}
  
 +
== XML parameters ==
 +
===XML Version===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| The XML Version parameter will identify the document as valid XML. This must always be at the top of the RBC document.
 +
*'''<?xml version="1.0" encoding="UTF-8"?>'''
 +
|-
 +
|}
 +
===RBC Version===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| Identifies the current RBC specification being used.  As of today, this value should be specified as 1.0.0.
 +
*'''<RBCVersion>1.0.0</RBCVersion>'''
 +
|-
 +
|}
 +
===Platform Type===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| Sets the platform type in ROBOTC. Requires the ROBOTC installation to have an appropriate license activated and valid in order to work properly.
 +
*'''<Platform>PlatformType</Platform>'''
 +
|-
 +
|}
 +
{| class="wikitable"
 +
|-
 +
|'''To set this platform type'''
 +
|'''Use this parameter'''
 +
|-
 +
|VEX PIC
 +
|VEX
 +
|-
 +
|VEX Cortex
 +
|VEX2
 +
|-
 +
|LEGO NXT
 +
|NXT
 +
|-
 +
|LEGO NXT + TETRIX
 +
|TETRIX
 +
|-
 +
|Arduino
 +
|ARDUINO
 +
|}
  
Turn the car on and you should see the Arduino power up.  
+
===Cortex Download Method (VEX Cortex only)===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| Sets the Cortex Download Method – used to modify the cortex download method to allow the Cortex to either require a VEXnet/USB cable in order to run, or to allow “standalone” mode to run a user’s program without searching for a COMM link. If the Cortex is using the VEXNet system or will be physically tethered to a Joystick Controller using the USB A-to-A cable, the VEXNet option should be used. Otherwise, use the USB-Only mode
 +
*'''<CortexDLMethod>DownloadMode</CortexDLMethod>'''
 +
|-
 +
|}
 +
{| class="wikitable"
 +
|-
 +
|'''To set this download method'''
 +
|'''Use this parameter'''
 +
|-
 +
|USB Only
 +
|USBOnly
 +
|-
 +
|USB or VEXNet
 +
|USBorWifi
 +
|-
 +
|Competition (VEXNet)
 +
|Competition
 +
|-
 +
|}
  
 +
===Circuit Board===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| This specifies the circuit board to be used. Has only real application with Arduino to differentiate between different board models (Uno,1280,2560,etc). Default value of blank (no value) for all other platforms.
 +
*'''<CircuitBoard></CircuitBoard>'''
 +
|-
 +
|}
 +
===Menu Level===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| Sets the ROBOTC GUI Menu Level. Used to show/hide functionality by adjusting the menu level types (Basic, Advanced, and Super User)
 +
*'''<MenuLevel>Level</MenuLevel>'''
 +
|-
 +
|}
 +
{| class="wikitable"
 +
|-
 +
|'''To set this menu level'''
 +
|'''Use this parameter'''
 +
|-
 +
|Basic
 +
|Basic
 +
|-
 +
|Expert
 +
|Expert
 +
|-
 +
|Super User
 +
|SuperUser
 +
|-
 +
|}
  
==Connecting the motors==
+
===Compiler Mode===
===Motor controllers===
+
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| Sets ROBOTC’s compiler mode (Compiler Target) – used to switch between real robots, the PC-based emulator, and Virtual Worlds compiling targets.
 +
*'''<CompilerMode>CompilerTarget</CompilerMode>'''
 +
|-
 +
|}
 +
{| class="wikitable"
 +
|-
 +
|'''To set this compiler target'''
 +
|'''Use this parameter'''
 +
|-
 +
|Physical Robot
 +
|Real
 +
|-
 +
|PC-based Emulator
 +
|Emulator
 +
|-
 +
|Virtual Worlds
 +
|VirtualWorlds
 +
|-
 +
|}
  
DC motors cannot be directly controlled by the Arduino - we will need an external motor controller to allow speed regulation as well as forwards/backwards control. These controllers all use the same fundamental concept - the H-bridge. This will use the PWM signal and convert it into useful DC motor commands.
+
===Compile and Download===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| Flag to specify if the source code should be “compiled” or “compiled and downloaded”. If set to “Yes”, the code will automatically be downloaded to the robot or Virtual World. Otherwise ("No", it will only be compiled.
 +
*'''<CompileAndDownload>Yes</CompileAndDownload>'''
 +
|-
 +
|}
 +
===Virtual World Index===
 +
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 +
|-
 +
| Sets the numerical type of the RVW Level Pack Index that should be launched. This is only a numerical number that references the RVW Level Pack “ID” number.
 +
*'''<VirtualWorldIndex>IndexNumber</VirtualWorldIndex>'''
 +
|-
 +
|}
 +
{| class="wikitable"
 +
|-
 +
|'''To set this Virtual World'''
 +
|'''Use this parameter index'''
 +
|-
 +
|Learning ROBOTC Tables Preview
 +
|2
 +
|-
 +
|Curriculum Companion
 +
|3
 +
|-
 +
|FTC Block Party!
 +
|8
 +
|-
 +
|VEX Toss Up
 +
|9
 +
|-
 +
|FTC Ring It Up!
 +
|10
 +
|-
 +
|VEX Sack Attack
 +
|11
 +
|-
 +
|Robots to the Rescue: Operation Reset
 +
|12
 +
|-
 +
|Palm Island: Luau Edition
 +
|14
 +
|-
 +
|Ruins of Atlantis
 +
|15
 +
|-
 +
|RVW Level Builder
 +
|18
 +
|-
 +
|}
  
Thankfully, VEX robotics has recently released the Motor Controller 29 - a nifty, compact motor controller to use with their new line of 2-wire motors. Fortunately for us, this is a controller that will work perfectly with our DC motors.
+
===Source File Name===
 
+
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
The VEX motor controller 29.
+
|-
 
+
| Name of the file that will be saved/displayed on the ROBOTC tab-bar at compile time – Note this file only is used if SourceCode is provided.
Another option for a motor controller is an Arduino Shield such as the Ardumoto from Sparkfun. This acts as a shield for the Arduino which lets you control up to 2 DC motors - perfect for our purposes.  
+
*'''<SourceFileName>Name_Of_Program.c</SourceFileName>'''
 
+
|-
 
+
|}
The Sparkfun Ardumoto.
+
===RVW Parameters===
 
+
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 
+
|-
Wiring
+
| Command Line Parameters that will be passed the next time Robot Virtual Worlds is launched. If the “CompileAndDownload” flag is set to “NO”, these parameters will be stored for the next execution. After the Virtual Worlds has been executed once, these parameters are discarded.
 
+
*'''<RVWParameters>parameter1 parameter2 parameter3</RVWParameters>'''
The wiring is pretty simple, nothing fancy. The signal cables should go to digital ports 9 and 10. Port 9 should be the Drive motor and port 10 should be the Steering motor. Keep in mind, we are powering the motor controllers straight from the battery and not from the Arduino 5V - the motors draw too much current otherwise.
+
|-
 
+
|}
 
+
===Source Code===
Testing
+
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 
+
|-
NOTE: If you are using the Gymkhana or a similar vehicle with turn regulation, skip this next section.
+
| Source Code of program to be open/compiled/downloaded. This is not a reference to an existing file but rather the actual contents of the file. Because the RBC file uses XML formatting, the file cannot contain any XML escape markups in the Source Code section. Instead, the escape markups must be replaced with the characters below:
 
+
|-
To test the motors, we are going to write a simple program for the Arduino. First, configure the motors as Continuous Rotation Servos driveMotor (motor_5) and steerMotor(motor_6). While the motors are not actually servos, the Arduino needs to think they are for the motor controllers to work properly.
+
|}
 
+
Let's make the car move forward turning one direction, then backward turning the other. This means the vehicle will end up amusing us by essentially trying to do an infinite-point turn.
+
 
+
#pragma config(CircuitBoardType, typeCktBoardUNO)
+
#pragma config(UART_Usage, UART0, uartSystemCommPort, baudRate200000, IOPins, dgtl1, dgtl0)
+
#pragma config(Motor,  servo_9,        driveMotor,    tmotorServoContinuousRotation, openLoop, IOPins, dgtl9, None)
+
#pragma config(Motor,  servo_10,        steerMotor,    tmotorServoContinuousRotation, openLoop, IOPins, dgtl10, None)
+
//*!!Code automatically generated by 'ROBOTC' configuration wizard              !!*//
+
+
task main()
+
{
+
  while(true)
+
  {
+
    motor[steerMotor] = 127;
+
    motor[driveMotor] = 100;
+
    wait1Msec(2000);
+
    motor[steerMotor] = 0;
+
    motor[driveMotor] = 0;
+
    wait1Msec(500);
+
    motor[steerMotor] = -127;
+
    motor[driveMotor] = -100;
+
    wait1Msec(2000);
+
    motor[steerMotor] = 0;
+
    motor[driveMotor] = 0;
+
    wait1Msec(500);
+
  }
+
}
+
 
+
Run this out in an open area and watch the car control itself.
+

Revision as of 16:31, 8 April 2014

Creating an RBC file


What is an RBC file?

An RBC file is a special type of XML file that can be used with ROBOTC v3.52 or later. Once an RBC file is created properly, you will be able to configure ROBOTC's Platform Type, Compiler Target, Menu Level, and other important settings all with the click of a button. You can even configure the RBC program to load a user program and automatically download it to a robot or Virtual World of your choosing.

How to create an RBC file

There are several steps required in order to create a working RBC file. You will need an activated installation of ROBOTC and a text file editor installed on the computer. For this demonstration, we used ROBOTC for VEX Robotics 4.0 and Notepad++ as our text file editor.
1) Create a new file in your text file editor (generally found under the 'File -> New' menu option).
2) Save the file with a custom name and a '.rbc' file extension. You may also need to change the 'File Type' dropdown menu to 'All Files', depending on the text editor settings.
3) Add the following parameters to the file:
  • <?xml version="1.0" encoding="UTF-8"?>
  • <RBCVersion>1.0.0</RBCVersion>
  • <Platform></Platform>
  • <CortexDLMethod></CortexDLMethod>
  • <CircuitBoard></CircuitBoard>
  • <MenuLevel></MenuLevel>
  • <CompilerMode></CompilerMode>
  • <CompileAndDownload></CompileAndDownload>
  • <VirtualWorldIndex></VirtualWorldIndex>
  • <SourceFileName>.c</SourceFileName>
  • <RVWParameters></RVWParameters>
  • <SourceCode></SourceCode>
4) Modify the parameters to fit the settings for the program. For a full listing of all of the available parameters, see the 'XML Parameters' section below.
5) Save the RBC file.
6) Manually open the RBC file icon by double clicking on it. If the file is configured correctly, ROBOTC should open with the specified parameters using the specified source code. If the program does not open correctly (or opens with the wrong settings), double check the parameters for accuracy.

XML parameters

XML Version

The XML Version parameter will identify the document as valid XML. This must always be at the top of the RBC document.
  • <?xml version="1.0" encoding="UTF-8"?>

RBC Version

Identifies the current RBC specification being used. As of today, this value should be specified as 1.0.0.
  • <RBCVersion>1.0.0</RBCVersion>

Platform Type

Sets the platform type in ROBOTC. Requires the ROBOTC installation to have an appropriate license activated and valid in order to work properly.
  • <Platform>PlatformType</Platform>
To set this platform type Use this parameter
VEX PIC VEX
VEX Cortex VEX2
LEGO NXT NXT
LEGO NXT + TETRIX TETRIX
Arduino ARDUINO

Cortex Download Method (VEX Cortex only)

Sets the Cortex Download Method – used to modify the cortex download method to allow the Cortex to either require a VEXnet/USB cable in order to run, or to allow “standalone” mode to run a user’s program without searching for a COMM link. If the Cortex is using the VEXNet system or will be physically tethered to a Joystick Controller using the USB A-to-A cable, the VEXNet option should be used. Otherwise, use the USB-Only mode
  • <CortexDLMethod>DownloadMode</CortexDLMethod>
To set this download method Use this parameter
USB Only USBOnly
USB or VEXNet USBorWifi
Competition (VEXNet) Competition

Circuit Board

This specifies the circuit board to be used. Has only real application with Arduino to differentiate between different board models (Uno,1280,2560,etc). Default value of blank (no value) for all other platforms.
  • <CircuitBoard></CircuitBoard>

Menu Level

Sets the ROBOTC GUI Menu Level. Used to show/hide functionality by adjusting the menu level types (Basic, Advanced, and Super User)
  • <MenuLevel>Level</MenuLevel>
To set this menu level Use this parameter
Basic Basic
Expert Expert
Super User SuperUser

Compiler Mode

Sets ROBOTC’s compiler mode (Compiler Target) – used to switch between real robots, the PC-based emulator, and Virtual Worlds compiling targets.
  • <CompilerMode>CompilerTarget</CompilerMode>
To set this compiler target Use this parameter
Physical Robot Real
PC-based Emulator Emulator
Virtual Worlds VirtualWorlds

Compile and Download

Flag to specify if the source code should be “compiled” or “compiled and downloaded”. If set to “Yes”, the code will automatically be downloaded to the robot or Virtual World. Otherwise ("No", it will only be compiled.
  • <CompileAndDownload>Yes</CompileAndDownload>

Virtual World Index

Sets the numerical type of the RVW Level Pack Index that should be launched. – This is only a numerical number that references the RVW Level Pack “ID” number.
  • <VirtualWorldIndex>IndexNumber</VirtualWorldIndex>
To set this Virtual World Use this parameter index
Learning ROBOTC Tables Preview 2
Curriculum Companion 3
FTC Block Party! 8
VEX Toss Up 9
FTC Ring It Up! 10
VEX Sack Attack 11
Robots to the Rescue: Operation Reset 12
Palm Island: Luau Edition 14
Ruins of Atlantis 15
RVW Level Builder 18

Source File Name

Name of the file that will be saved/displayed on the ROBOTC tab-bar at compile time – Note this file only is used if SourceCode is provided.
  • <SourceFileName>Name_Of_Program.c</SourceFileName>

RVW Parameters

Command Line Parameters that will be passed the next time Robot Virtual Worlds is launched. If the “CompileAndDownload” flag is set to “NO”, these parameters will be stored for the next execution. After the Virtual Worlds has been executed once, these parameters are discarded.
  • <RVWParameters>parameter1 parameter2 parameter3</RVWParameters>

Source Code

Source Code of program to be open/compiled/downloaded. This is not a reference to an existing file but rather the actual contents of the file. Because the RBC file uses XML formatting, the file cannot contain any XML escape markups in the Source Code section. Instead, the escape markups must be replaced with the characters below: