RobotC

Activity 3.1.1 Inputs and Outputs VEX

Procedure
1. Start the ROBOTC for VEX Cortex and PIC software.
2. Connect the testbed to the computer using the USB A-A cable.
3. Set up the motors and sensors.
a. Open a New File
b. Set platform and communications method:
i. Click View > Preferences > Detailed Preferences.
ii. In the Platform tab, click the drop down under Platform Type, choose
VEX 2.0 Cortex. Natural Language should appear in the platform type
window.
iii. Make sure under Communication Port, it says Automatic. Note that this
can be changed to USB to ensure that the PC communicates to the
Cortex through the USB cable.
iv. Click OK.
v. Robot > Platform Type > Natural Language
c. Click File, Save As, select the folder that your teacher designated, then name
the file A3_1_1.
d. Complete the Project Title, Team Members, Date, and Section.
e. Click Motors and Sensors Set up.
i. Under the Standard Models Tab
ii. Select Configuration POE + CIM Testbed

4. Save the file in the same location used earlier, A3_1_1.

5. Obtain the teachers approval before proceeding to the next step.
6. Power on the Cortex.
7. View motor and sensor debugger windows.
a. Click Robot.
b. Click Compile and Download Program. Leave the Debug window
open.
c. Click Robot, Debug Windows, then Motors.
d. If there is not a Sensor and Motors tab available at the bottom of the
window, add them through the next steps. Click Robot, Debug
Windows, then Sensors.
e. Increase the debugger window area at the bottom to view the motor
and sensor values as shown below. Note that this window can be
viewed any time by clicking Robot then Debugger.
8. Fill in the Table
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POE Activity 3.1.1 Inputs and Outputs VEX Page 1

Directions
Enter several values ranging from -127 to
127, then press Enter on the keyboard or
click away from the value entry window.

Observations
(include threshold power setting for the motor to turn)
When set to negative, the motor turns cw
Right

Motor/Sensor

Left

When set positive, the motor turns ccw

Motor
Change the line follower immediate
environment and observe the effect on
the lineFollower value. Use a dark and
light color within 1/4 - 1/8 in. to see the
change in the sensor value.

When the line follower follows a darker line, the value is

higher, then when the line follower follows a darker line.

Change the potentiometer setting and

observe the effect on the potentiometer
value. Rotate the potentiometer to
change the sensor input. Do not force
the potentiometer beyond the CW and
CCW physical stops.

When the potentiometer is turn cw , the value increases.

When the potentiometer is turned ccw, the value decreases.

Line Follower

Potentiometer

Calculate the angle change between

whole number values in your
engineering notebook. Use the
protractor below to measure an angle.
Change the limit switch environment and
observe the effect on the limitSwitch
value.

When it is pressed, the light switch is a closed circuit and has

a value of 1 , and when the it isnt pressed, the light switch is
an open circuit, with a value of 0.

Change the bumper switch environment

and observe the effect on the
bumpSwitch value.

It works only when it is activated by a human, you have to

hook up the bumpswitch so that is activates the correct motor
and when pressed it has a value of 1 and when unpressed it
has a value of 0.

Change the optical encoder environment

and observe the effect on the quad
value. Rotate the optical encoder. Note
that there is no CW or CCW physical
stop therefore it can be turned
indefinitely in a direction.

When turned cw, the value it decreases, when turned ccw,

the value increases.

Enter a 0 value, then press Enter on the

keyboard or elsewhere in the dialog
window. Did the LED respond as you
expected?

When 1 is put in, the LED turns on , and when 0 is entered

the LED is off.

Limit Switch

Bumper Switch

Optical Encoder

Green LED

Enter a 1 value, then press Enter on the

keyboard or click away from the value
entry window. Did the LED respond as
you expected?

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POE Activity 3.1.1 Inputs and Outputs VEX Page 2

Enter several values ranging from -127

to 127, then press Enter on the
keyboard or click away from the value
entry window.

When 127 is entered, the servometer turns 127 degrees ccw,

and when -127 is entered, the servometer is turns -127
degrees cw.

Calculate the angle change between

whole number values in your
engineering notebook. Use the
protractor above to measure an angle.
Servo Motor
Enter several values ranging from -127
to 127, then press Enter on the
keyboard or click away from the value
entry window. This allows the value to
be updated. Note that the flashlight
needs a negative value in the debugger
window.

When 127 was entered, the light was bright as can be, but
when -127 was entered, the light wasnt on.

Change the ultrasonic environment with

a solid object in front of the ultrasonic
sensor. Observe the effect on the sonar
value.

The farther away from the sensor, the greater the value, and
the closer to the sensor the lower the value.

Change the light sensors immediate

environment by activating the flashlight
and shine it on the light sensor. Use
your hand to shield the light to the
sensor to change the sensor input.
Observe the effect on the lightSensor
value.

When more light is exposed to the sensor, the samller the

value, and when less light is exposed the value increases.

Flashlight

Ultrasonic

Light Sensor

2012 Project Lead The Way, Inc.

POE Activity 3.1.1 Inputs and Outputs VEX Page 3