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# Intro to the Robotics Introducing the IC Discuss motor control using IC Hands-on programming - PowerPoint PPT Presentation

The George Washington University Department of ECE ECE 001 - Intro: Electrical & Computer Engineering. Intro to the Robotics Introducing the IC Discuss motor control using IC Hands-on programming Dr. S. Ahmadi Class 1 Slides obtained from Botball Kit Documentation. Class Outline .

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### The George Washington University Department of ECE ECE 001 - Intro: Electrical & Computer Engineering

Intro to the Robotics

Introducing the IC

Discuss motor control using IC

Hands-on programming

Class 1

Slides obtained from Botball Kit Documentation

### Class Outline

Policy and Safety

Basic IC programming

Display

Function commands

Botball Part list

http://www.seas.gwu.edu/~ece001/partlist.doc

• Overview of Motors

• IC is a hybrid of C designed to run on small, self-contained robot controllers

void main()

{

}

• Making decisions

• If ( ) { statement }

• Else( ) { statement }

• Making repeated decisions

• While( ) { statement }

• IC is a hybrid of C designed to run on small, self-contained robot controllers

• void main()

{

// This is a comment

int my_variable; // “my_variable” is of type: integer

my_variable = 2; // assinging a variable

motor(1, my_variable); // a function call, turns on motor

float my_second_variable; // “my_second_variable” is of type: float

my_second_variable = 2+(3/6)^5; // mathematical expression using C

my_second_variable = sqrt((a^2)+(b^2));

}

• Important: All statements end with a semicolon (;).

• Making decisions

• If ( ) { statement }

• Else( ) { statement }

• Making repeated decisions

• While( ) { statement }

• What is a variable?

• It holds information, for example: a number

• Two types of variables we will use in ECE001

• int (16 bit integer number in IC)

+/-32,767 (largest # it can hold)

• float (32 bit floating point number)

e.g. 3.1416

• Sleep(seconds);

• sleep() delays the function’s execution for an amount of time equal to the number of seconds (expressed as a float) given as an argument

C Function:printf();

• Takes a quoted string and prints it out

– %d is used for an integer

– %f is used for a float

– \n starts next character back at upper left corner (or new line on terminal)

– commas separate all arguments after the quoted string

• printf(“I’m printing\n”);

• start_button();

• stop_button();

• beep();

• fd(x); // makes motor “x” go forward

• bk(x); // makes motor “x” go backward

• ao(); // turns all motors off --- “all off”

• When a program is run, the control moves from one statement to the next

• Calculate j2 + 1 when j = 3

void main()

{

int r,j; /* declare r and j */

j = 3; /* assign a value to j */

r = j*j + 1; /* calculate and assign */

printf(“result is %d\n”,r);

}

Making decision Using if-else condition

void main()

{

if ( start_button()==1)

{ fd(1); fd(2); }

else

{ ao(); }

}

• Loops are used when you want to do the same thing multiple times

• E.g., beep 20 times

• You could type beep(); 20 times, but there is a better way: a loop

• Syntax: while (<test>) {statements}

• Beep 20 times

void main()

{

int num; /* declare counter */

num = 1; /* initialize counter */

while (num <= 20)/* loop while num is <=20*/

{

beep(); /* beep once */

num = num + 1; /* add one to the counter */

}

}

• Start the IC application

• Click on the picture of the Handy Board

• Click on the Connect Later button

• Click on the New button (upper left corner)

• Type in the program that prints out a text string

• Save the file using the Save button (name it

• whatever you want -- just remember where you put it).

• How to learn IC programming

• http://www.kipr.org/curriculum/programming.html

• Check class website for Handy board documentation

• Check IC command functions

• Check the handy board diagram

• Return the Kit release form after you check all parts in the Kit

• Homework is to be done individually