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)
When the range is set to negative, the motor
turns to the right or CW.
Right

Motor/Sensor

Motor

When the range is set to positive, the motor

turns to the left or CCW.

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 lighter line value, the value is
very high (about 3000), but when the line follower follows a
darker line, the value decreases (about 1000).

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 turned CCW or left, the value

decreases. When it is turned CW or right, the value
increases.

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 the limit switch is pressed, it is a closed circuit and has

a value of 1. When it is not pressed, it is an open circuit with
a value of 0.

Change the bumper switch environment

and observe the effect on the
bumpSwitch value.

The bump switch is a manual device and only works when a

human activates it. You must hook up a motor with the bump
switch so that the bump switch activates the correct motor.
When pressed, it has a value of 1 and when not pressed, 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 the optical encoder is turned CCW, the value increases

and when it is turned CW, the value decreases.

Enter a 0 value, then press Enter on the

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

When 0 is entered, the LED is off and when 1 is entered as

the value, the LED is on.

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.

Depending on what angle is entered, the Servo Motor will

turn at that degree. When 127 was entered, the Servo motor
turned CCW 127 degrees. When -127 was entered, the
motor turned CW 127 degrees.

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.

The higher the value entered, the brighter the light will be.
When -127 was entered, the flashlight did not turn on. When
127 was enter, the flashlight was at its brightest.

Change the ultrasonic environment with

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

The closer an object is to the sensor, the smaller the value.

The farther away an object is from the sensor, the greater 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 more light exposed to the light sensor, the lower the
value. When the sensor is not exposed to a lot of light, the
value increases.

Flashlight

Ultrasonic

Light Sensor

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POE Activity 3.1.1 Inputs and Outputs VEX Page 3