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

Left

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)
If the number has a negative sign, the motor
turns right (counter clockwise)
Right

Motor/Sensor

Motor

If the number is positive, the motor turns left

(clockwise)

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.

The line follower senses 1/16 inches of light. The value

increases and decreases as the view changes.

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.

The value of the potentiometer either increases or decreases

based on the way it is turned.

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.

Once the switch is pressed, the value of the closed circuit is

one. When the button is not pressed, the value of the open
circuit is zero.

Change the bumper switch environment

and observe the effect on the
bumpSwitch value.

Just like before when it is pressed, the value is one. When

the button is not pressed, the value is zero.

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.

The movement of counter clockwise makes the value

increase while the movement of clockwise makes the value
decrease.

Enter a 0 value, then press Enter on the

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

Once you type in zero and push enter, the LED light is off and
to turn it on the value one must be entered.

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.

The amount of turn allowed is a ratio to the value you entered

into the computer. Clockwise is positive and counter
clockwise is negative.

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 you type in a larger number closer to 127, the light will
turn brighter. At -127, the light does not turn on since it is at
its lowest.

Change the ultrasonic environment with

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

The value is smaller or bigger based on the distance to an

object. The closer the object means the smaller the value.
The farther the object, the bigger 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.

The value of the light sensor is how much light is exposed to

the light sensor. The more the light the lower the value. The
higher the value is when the sensor is not exposed.

Flashlight

Ultrasonic

Light Sensor

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POE Activity 3.1.1 Inputs and Outputs VEX Page 3