Robotics

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System Requirements:

All the code on this webpage is written in Robotc. You will need it to compile the code for the NXT.

You will need the Windows operating system to run Robotc.

Latest updates for the Robotc firmware. See System Add-ons.

Cyborg Project:

A small project that uses an NXT to move around a room. It is meant to be left and forgotten, while in navigates the room using sonar on port 1.

Files for Project:

Sound file: "Rapid Fire.rso"

Compiled program: "Cyborg.rxe"

Project code:

//*!!Sensor, S1, Sonar, sensorSONAR9V, , !!*// //*!! !!*// //*!!Start automatically generated configuration code. !!*// const tSensors Sonar = (tSensors) S1; //sensorSONAR9V //*!!!!*// //*!!CLICK to edit 'wizard' created sensor & motor configuration. !!*// // ^^^^^^^^^^^^^^^^ Don't Touch Code Above! ^^^^^^^^^^^^^^^ /* ____________________________________ Author: Peter Szczuczko ____________________________________ Program Name: Cyborg Program 2.0 ____________________________________ Notes: - No user need. - Finds its way a around - Cyborg LCD Display added. - Loops over and over - Uploaded own sounds - Decresed motor speed to match my ROBOT - Random turing time ____________________________________ */ task main() { // >> Sync motors Start << nMotorPIDSpeedCtrl [motorB] = mtrSpeedReg; nMotorPIDSpeedCtrl [motorC] = mtrSpeedReg; //nSyncedMotors = synchBC; //nSyncedTurnRatio = 100; // ^^ Sync motors End ^^ PlaySoundFile("rapidfire.rso"); // Play SFX eraseDisplay(); nxtDisplayCenteredTextLine(1, "Cyborg can see"); nxtDisplayCenteredTextLine(2, "Without eyes!"); nxtDisplayCenteredTextLine(5, "Update 08/5/08"); wait1Msec (2000); while ( 1 == 1) // Goes forever { while (SensorValue(Sonar) > 80) // While less then 80cm go to below { motor[motorB] = 30; // Make motors go at 30% power motor[motorC] = 30; } // If it detects object less then 80cm away PlaySoundFile("Woops.rso"); // Play sound called "Woops" motor[motorB] = 0; // Stop all motors motor[motorC] = 0; motor[motorB] = -20; // Reverse motor B at 20% motor[motorC] = -20; // Reverse motor C at 20% //Wait 1 second(s) wait1Msec(1000); //Start again motor[motorB] = 0; // Stop this motor motor[motorC] = 30; // Turn on, so it can turn //Wait for a random amount of time from 0-2 seconds wait1Msec (random(2000)); motor[motorB] = 0; // Stop all motors motor[motorC] = 0; // ^^^ Back up to the top! ^^^ } }

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Cyborg Battery Diagnosis Project:

A simple program that shows all battery information for NXT.

Files for Project:

Compiled program: "CyborgDi.rxe"

Project code:

#pragma platform(NXT) // This can only be used on NXT platform! const int kMinimumBatteryLvel = 6300; task main() { int nCounter = 0; while (true) { if (nImmediateBatteryLevel < kMinimumBatteryLvel) { // // Battery level too low to proceeed. // PlaySound(soundLowBuzz); break; } nxtDisplayTextLine(0, " Battery Level"); // Display the Battery levels nxtDisplayBigStringAt(20, 52, "%3.1f V", nImmediateBatteryLevel / (float) 1000); // Display the voltage level at which the NXT will "shutdown" nxtDisplayTextLine(4, "Shutdown at%4.1fV", nShutdownVoltage / (float) 1000); // DIsplay the voltage level at which the NXT will "shutdown" nxtDisplayTextLine(5, "Sleep Tmr: %d min", nPowerDownDelayMinutes); // Display the Battery type: rechargeable or one-time only if (bNxtRechargable) nxtDisplayTextLine(7, "Rechargable"); else nxtDisplayTextLine(7, "Non-Rechargeable"); // You can also immediately power off the NXT as follows: wait1Msec(10); ++nCounter; if (nCounter > 15000) powerOff(); } return; }

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Line Follower/Track Runner:

Two programs (with code), Help file, and a FAQ are in a self-extracting zip archive. These programs follow a flat black line line on a white surface. One program uses one sensor and the other uses two! If you are going to try the program you MUST re-calculate a NEW threshold!

Important!

A bug has been found when using the compiling the code in the self-extracting zip archive. If you compile the code and send it to the NXT the program will not run! Change the "Track Runner 2.0" part of the filename to: "Track Runner2". This will solve the bug.

Files for Project:

Self-extracting zip archive: "Track Runner.exe"

Plain old zip file: "Track Runner.zip"

Project code:

In the self-extracting zip archive or plain zip file.

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