1. Start EasyC

9. “Main” automatically created for us

10. Configuration • Double-click Config • See Picture • Label Motor Ports • Empty • Left Front Drive Motor • Left Rear Drive Motor • Right Front Drive Motor • Right Rear Drive Motor • Lift Motor • Claw SERVO • Add “Invert Me” Reminder to names later if needed • OK or Enter to return to Main

11. Back to “Main”

12. “Initialize” subroutine automatically created for us

13. “Autonomous” subroutine automatically created for us

14. “OperatorControl” subroutine automatically created for us

15. Add our instructions to Initialize

16. Outputs are for sending commands to Motors, etc.

17. Open Outputs

18. Select “Motor”

19. Click-&-Drag Motor onto flowchart line

20. “Motor Module” default window opens Change Motor Number to “2” Change Motor Direction to “Stop” 2

21. Click-&-Drag another Motor Module 2

22. Modify this seconds Motor Module Change Motor Number to “3” Change Motor Direction to “Stop” 3

23. 2 3

24. Repeat for two more Motor Modules for Motors 4 & 5 4 5

25. All “Drive” Motors will be init’ed to 0 = “Stop” 2 3 4 5

26. Select the “Program Flow” group 2 3 4 5

27. See the “Comment” Function Block 2 3 4 5

28. Select Comment 2 3 4 5

29. Click & Drag onto the Flowchart Line 2 3 4 Enter a useful comment into the pop-up window 5

30. Comments involve style – Use them to help, not punish  2 3 4 5

31. Added a comment about the “Lift Motor” 2 3 4 5

32. Added a Motor Block to init the Lift to 0 = Stop 2 3 4 5 6

33. Added a Comment about the Claw Servo 2 3 4 5 6

34. Click-&-Drag a Servo Function Block onto the Flowchart 7 2 3 4 5 Using 0 will “center” the Servo. You should experiment to find a good value between -127 & +127 for your robot. 6

35. Initialization is Done (except for servo experiment results) 2 3 4 5 6 7

36. Switch to Operator Control – Notice the “While” Loop

37. Select the Joystick

38. See lots of Choices

39. Pick 1 – I chose 4-Motor Arcade to keep the 2nd Stick free

40. Click & Drag 4-Motor Arcade to the While Loop

41. Make, Xmitter, Jstck, Motor Port & Inversion assignments 2 4 3 5 You have a Single Transmitter Under the Transmitter heading the “Joystick” label is unclear. You pick a Transmitter (1 or 2) there, not a Transmitter Channel. (1 thru 8)