The only sensor used in this project was an NXT gyro sensor from HiTechnic. I used this sample program as the basis for my implementation. C:\Program Files (x86)\Robomatter Inc\ROBOTC Development Environment\Sample Programs\NXT\Miscellaneous) which implemented a PID controller on a two-wheeled robot. Fortunately, I found a sample program in the RobotC IDE directories (i.e. For this project, the PID (proportional-integral-derivative) controller was chosen because of my familiarity with it. Linear-quadratic regulator, lead-lag, state-feedback, pole placement, fuzzy controller, and proportional-integral-derivative controller, are all controllers that have been successfully used to control such an inherently unstable system like this Segway-type robot.
Robotc ide code#
C is not object oriented, therefore any code made using classes cannot be used in ROBOTC.Figure 2: An inverted pendulum on a cart If you want to use a float, you must cast the numerical value as float by preceding it with (float) or else the compiler will assume it's a double. C is less picky about data types than C#.In C#, code from other files is automatically included as long as the files are in the same directory.
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In regular C, you must use the #include statement to include code from other files.Here are the differences that are pertinent to programming for VirtualVEX: Most are so minor you will never encounter them, but in certain situations you may be faced with this conflict. Since ROBOTC uses the standard C syntax whereas VirtualVEX uses C#, there are differences inthe exact syntax of your program. For more on VVDevelop, see the knowledge base page on it. Since VVDevelop is already set up to compile to VirtualVEX you do not have to go through the steps shown in the previous section that you would need for another IDE. It is linked to the gmcs compiler and supports 1-click compilation. The VVDevelop IDE is a basic development environment bundled with the VirtualVEX programming kit. Right click on the solution and select "Add Existing Item".Browse to find UnityEngine.dll and add it to the references.Once the new solution is open, go to the References panel, right click and select "Manage" or "Add Reference" depending on your IDE.Start a new project/solution and set the project type to "Class Library" and the name to "main".The following example instructions can be used in Microsoft Visual C# Express, Microsoft Visual Studio Professional, or the open-source MonoDevelop: There are several C#-compatible IDE's out there. This saves you the trouble of having to compile with the command line. You can optionally use an IDE to compile your code. If it does not execute make sure your code has no errors in it. when you launch a simulation the program will read this code and execute it. Replace the version that is already there (though you should make a backup just in case).
Robotc ide portable#
Once your code is compiled you can download it to VirtualVEX by putting main.dll the folder C:\VVData\UserCode (for the standard version) or /virtualvex_data (for the portable version).
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This is a chart of which "motors" on the virtual robot are plugged in to which "ports," which is necessary knowledge for programming the robot. VirtualVEX runs in its own control loop, and butting an additional while loop inside could lead to unexpected results. However, there is one IMPORTANT difference: do NOT put the code inside a while loop like you would in ROBOTC.
Robotc ide driver#
Since ROBOTC syntax is supported you can program the driver code just as you would a regular VEX ROBOTC program. Driver code goes inside the driver_control() function. This template contains important definitions for ROBOTC constants. All VirtualVEX programs must be written within the source.cs template.