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
2012 Project Lead The Way, Inc.
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)
127-full power clockwise
Right

Motor/Sensor

-127- full power counter clockwise

Left

63-half power clockwise

Motor

-63-half power counter 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 lighter the object is the lower the number and the darker
the object the higher the number with a limit of 4095

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 potentiometer goes from 0 to 4095 units counting the

amount of rotations of the axel attached to it. It will stop when
it reaches its limit which is only like 2/3 of a full rotation or
240 degrees. It has conversion ratio of 17.1to get from
degrees to units.

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.

1 means that the limit switch is being pressed while 0 means

that the limit switch is not being pressed.

Change the bumper switch environment

and observe the effect on the
bumpSwitch value.

1 means that the bump switch is being pressed while 0

means that the switch is not being pressed

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 encoder will increase cw counting the amount of

rotations it performs, and has a limit of 18 rotations per
second, these will be positive. Counterclockwise is the same
thing except it the numbers will decrease past zero. It counts
in degrees.

Enter a 0 value, then press Enter on the

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

A zero makes the LED go dark and a one makes the LED
light up.

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?

2012 Project Lead The Way, Inc.

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.

127 is a full rotation clock wise and -127 is a full rotation

counterclockwise any number between the two is a select
point to rotate and stay there.

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.

A positive number will turn the flashlight on while a negative

number or 0 will turn the flashlight off

Change the ultrasonic environment with

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

As the object gets closer to the sensor the number decreases

representing the amount of inches between the object and
the sensor

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.

As less light hits the sensor, the number increases to a

maximum of 4095, as more light hits the sensor the number
decreases to a minimum of 0 meaning that all light is hitting
the sensor.

Flashlight

Ultrasonic

Light Sensor

2012 Project Lead The Way, Inc.

POE Activity 3.1.1 Inputs and Outputs VEX Page 3