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9 9 Robot C Settings for Programming in VEX IQ Text Mode Setup the software for Vex IQ: <View Preferences> <Detailed Preferences> Platform Tab: Platform Type [Vex Robotics] [VEX IQ] Quick Setup Tab: Supported Editor Types [Text Editor Only] <Robot><Platform Type><Vex IQ> <Robot><VexIQ Controller Mode> <TeleOp-Remote Controller Required> for programming remote control or <Autonomous No Controller Required> for autonomous programming Define the motors and sensors. Press the Motors and Sensor Setup button on the toolbar. On the Standard Mode make sure the custom Configuration button is selected. There are 12 ports on the VEX IQ brain that motors and sensors can be plugged into. Each port should be defined thing or no motor or sensor with only one motor or sensor per port. However, you can define more than one rem joystick to a specific port. This can come in handy when you want a motor to go forward or backwards or go at di speeds. Be very careful NOT to use a reserved word in RobotC (will result in an error when compiled) as a motor or senso so, note to use a logical name for those motors so you can use them in the code and have an idea what they are c Remember, case is important in RobotC. I always use a description of what the motor or sensor does (drive, lift, c followed by a # or a left/right (if there are 2 motors controlling something).

10 In the example below, on the Motors tab, the right and left drive motors are defined as ports 1 and 2 respectively with the left motor plugged into port 1 and the right plugged into port 2. Make sure to reverse one of the motors in the software so they both rotate in the same direction (when reversed in mounting). Port 3 has one lift motor defined and port 4 has the second lift motor defined and plugged in notice again that one of them is reversed. Port 5 has a claw motor defined and plugged in. Port 6 has a bumper sensor defined and plugged in. Port 7 has a distance sensor defined and plugged in. Also notice that when defining sensors on the Devices tab, the ports defined as motors already show the label Motor as sensor type. 10 Select OK when done defining them. Notice how RobotC automatically creates the code necessary to use them in your code. It is best not to try manually edit (change) this code above the comment line in green. Also, note have RobotC automatically places a Task main () and beginning/end brackets {}. You are now ready to code the remote control or autonomous code within these {} brackets.

11 11 Here are how the devices will be plugged in to the VEX IQ brain based on the example code. Note how the ports defined in RobotC match how they plug into the brain. Downloading code: With the Vex IQ brain off, plug in the black USB cable into the brain and your PC. Power on your VEX IQ brain. And select the download to robot button in RobotC.

12 12 VEX IQ REMOTE CONTROL PROGRAMMING Follow the document titled Robot C Settings for Programming in VEX IQ Text Mode to setup RobotC (if also used for EDR programming) and define the motors and sensors. The remote control can be programmed to assign commands to each button. All commands must be placed in a while loop to have continuous operation-otherwise, the button commands would run just once. You also should stop a button setting by setting the motor to 0 once no button is pressed. The VEX IQ remote control has 2 joysticks. The joystick on the left is A (up/down) and B (left-right). The joystick on the right is D (up/down) and C (left-right). The joysticks are typically at the value of 0 in the neutral position but can send variable rates to motors. When they are pressed up, the will go from 0 to 100. And, when pressed down, they go from 0 to So, their total range is -100 to 100. In RobotC, if connected to motors, they are referred to as: motor [motorname] = vexrt [ChA]; motor [motorname] = vexrt [ChB]; motor [motorname] = vexrt [ChC]; motor [motorname] = vexrt [ChD]; If you want to reduce the speed range in half (run the motors at a reduced rate from 50 to -50), you can perform a mathematical function. This would be good for an arm that you need more fine control of its motion. For example, motor [motorname] = vexrt [ChA]/2; The remote has 2 sets of dual buttons on the top (E and F). And 2 sets of dual buttons on front side (R and L). The buttons are either a 0 or 1 value. When pressed, they return a value of 1 and if they are not pressed, they return a value of 0. Accessing the buttons in RobotC are coded similar to the joysticks. They also use the vexrt[] command combined with Btn and followed by the letter series and Up or Down. Here is an example of how to program the E/Up button on top of the remote controlling the motor defined as Lift1 in RobotC. motor [Lift1] = vexrt [BtnEUp];

13 13 In the program below, the driving motors are assigned to the A and D joysticks. Two lift motors are assigned to the R buttons on the front of the remote UP (forward 50) and DOWN (reverse -50). I also have a claw button assigned to the L button that runs the motor in reverse. The text in green are comments and it is good practice to define what you are doing in the code so if someone else is reading it, they understand it. It is also goo to go back to if you need to adjust a setting. #pragma config(motor, motor1, drleft, tmotorvexiq, PIDControl, encoder) #pragma config(motor, motor2, drright, tmotorvexiq, PIDControl, reversed, encoder) #pragma config(motor, motor3, Lift1, tmotorvexiq, PIDControl, encoder) #pragma config(motor, motor4, Lift2, tmotorvexiq, PIDControl, reversed, encoder) #pragma config(motor, motor5, Claw1, tmotorvexiq, PIDControl, encoder) //*!!Code automatically generated by 'ROBOTC' configuration wizard!!*// task main() { // while statement must be there otherwise, it would run once the joystick was moved and not again while (1 ==1) { //this defines the drleft motor to the ChA joystick and the drright motor to ChD joystick motor [drleft] = vexrt [ChA]; motor [drright] = vexrt [ChD]; //this runs both lift motors at half speed if the R Up button is pressed if (vexrt[btnrup] == 1) { motor [Lift1] = 50; motor [Lift2] = 50; } //this runs both lift motors at negative (backwards) half speed when the R Down if the button is pressed else if (vexrt[btnrdown] == 1) { motor [Lift1] = -50; motor [Lift2] = -50; } //this stops both lift motors if neither R button is pressed else { motor [Lift1] = 0; motor [Lift2] = 0; } //this runs the claw motor down at half speed if the L Down button is pressed if (vexrt[btnldown] == 1) { motor [Claw1] = -50; } else { motor [Claw1] = 0; } } }

14 14 Copyright VEX ROBOTICS.

15 15 Copyright VEX ROBOTICS.