Programming with Excel. Workshop for FLL Coaches
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1 Programming with Excel Workshop for FLL Coaches Tony Ayad June 2012
2 Outline What is programming with Excel and Why use it The Command Interpreter Standard Commands list How to create your own commands? Bonus: Proportional Line Follower the Master Program 07/02/2012 Programming with EXCEL - Tony Ayad 2
3 Programming with Excel What? The NXT can read simple text files The text file can only contain a single value on a line Excel is used to create commands on a single line to move, turn, etc. The Excel commands are converted to text files and downloaded into the NXT The NXT reads the text files and executes the commands by a program that is created by your team Why? Downloading programs takes seconds Programs can be very long without crashing PC Each step can be documented Different version of the same program can be created Work on same program from different computers Something new and different for advanced team to keep them challenged 07/02/2012 Programming with EXCEL - Tony Ayad 3
4 Using Excel - Explained Step 1: create program in Excel Step 2: Create the text file by running the Build program macro Step 4: run your command interpreter program That reads and executes commands in the text file Step 3: download program Text file into NXT 07/02/2012 Programming with EXCEL - Tony Ayad 4
5 What you need to do on the NXT Teams need to design, develop and create their own commands (move, turn, spin, etc.) Teams need to create their own NXT Command interpreter program to read the text file and run each of the commands. An example interpreter program will be overviewed in this workshop NOTE: the Excel is just a black box that creates text files. 07/02/2012 Programming with EXCEL - Tony Ayad 5
6 EXCEL Design your own command in Commands worksheet Commands MUST be described in the Commands worksheet before they can be used in programs Command name: Describes the action 12 characters in length No spaces This name MUST correspond with each tab name in the NXT-G Command Interpreter myblock Variables: Each command can have up to 3 variables The description entered here will appear as column heading in program files Remember: only numeric Describe the action being performed. Remember: teams control what goes in the Commands worksheet 07/02/2012 Programming with EXCEL - Tony Ayad 6
7 EXCEL - Program Worksheet Explanation Exact location and name of the file to be created Command Button that creates the text file Command name is entered in this column. When the command line is blank, the entire line is ignored. If the command name not found in the Commands worksheet, it will be highlighted in red. Note: Last command in your program must be END Variable are entered in those columns. ONLY numeric values are allowed Describe the action being performed. This is just for documentation. Column headings will change as you scroll through the rows. The titles are obtained from the Commands worksheet 07/02/2012 Programming with EXCEL - Tony Ayad 7
8 EXCEL how to Create a new Command: 1.Go to Commands worksheet 2.Enter command name in column 1 (use upper case) 3.Describe the variables in columns 2, 3, and 4 4.Provide a description of the command. 5.Make sure that the command interpreter has a new tab to accommodate the new command. Create New Program: Options 1 Press and hold an existing program tab and click and drag the tab to a new position (you'll see a "+" sign appear) Option 2 Right Mouse Click on the program tab you wish to copy; a popup menu will appear (exhibit 1); click on the "Move or Copy" option; the "Move or Copy" window will appear (exhibit 2); click to check the "Create a Copy" button, click on "(move to end)", then click on the "OK" button. Exhibit 1 Exhibit 2 07/02/2012 Programming with EXCEL - Tony Ayad 8
9 What is needed on the NXT -General Command The following is a sample list of Actions / MyBlocks/ Commands that need to be programmed into the NXT MoveFWDand MoveBCK use the MOVE block TurnLeft, TurnRight make a turn using one MOTOR block SpinLeft, SpinRight turn using both motors that are moving in opposite direction ArmUP, ArmDown Raise or lower the arm motor Wait4Dark detects when light sensor value is less than specified Wait4Bright detects when light sensor value is more than specified Wait4time wait a number of seconds Wait4Rotation wait until rotation sensor LineFollower follow the line WallSquare bump and align against a stationary object (e.g., wall) Stop stops both motors 07/02/2012 Programming with EXCEL - Tony Ayad 9
10 The FILE ACCESS Block details The FILE ACCESS block is used to work with files on the on the NXT Control Panel Name: file name goes here. MAKE SURE IT IS A TEXT FILE CREATED WITH PROGRAM such as Notepad. Action:s Read = read one line Write = write one line to the end of the file Close: close the file Delete = Delete the file from NXT What are the type of Errors? Read when end of file is reached Read from number port and value is text Write when NXT is out of memory Close and the file doesn t exist File name is not found on the nxt INPUTS: File Name Text to write Number to write True if error is encountered Text value (READ action) maximum length of text value is 12 Numeric value (Read action) can be decimal value 07/02/2012 Programming with EXCEL - Tony Ayad 10
11 Command Interpreter Flow Chart Note: example program will be developed during this workshop Read Command and its variables Command = END? Yes Stop all motors Close Command File No Run Command 07/02/2012 Programming with EXCEL - Tony Ayad 11
12 Command Interpreter Program (My Block) 07/02/2012 Programming with EXCEL - Tony Ayad 12
13 Move Forward (MoveFWD) and Move Back (MoveBCK) 1. The standard MOVE block is used with these features 2. The duration input is Inches which is converted to motor degrees 3. To accommodate unlimited move, the Inches variable would be set to zero. Using unlimited, the robot can move and do other action such as raising or lowering the arm, waiting for black line, etc. 07/02/2012 Programming with EXCEL - Tony Ayad 13
14 Turn Left / Right Spin Right / Left 1. Turn angle is converted into motor degrees using the relationship between turn circle and wheel circumference 2. Direction allows the motor to move forward or back 1. Spin angle is converted into motor degrees by multiplying the angle by relationship between spin circle and wheel circumference 2. When the Spin Angle is zero, the spin is unlimited 07/02/2012 Programming with EXCEL - Tony Ayad 14
15 Spin Left / Right 1. Spin angle is converted into motor degrees by multiplying the angle by When the Spin Angle is zero, the spin is unlimited 07/02/2012 Programming with EXCEL - Tony Ayad 15
16 Wait2Black, Wait4White, Wait4Rotation Wait4Black Wait4White Wait4Inches 07/02/2012 Programming with EXCEL - Tony Ayad 16
17 Proportional Line Follower to avoid zig-zagging Use a single light sensor to follow the line where the turn varies and is proportional to how far away the robot is from the line. Assumptions: At the edge of the line, the light sensor reading will be 50 which is the idealreading The Base powerfor both motors is 35 The difference between what the light sensor sees and ideal reading is the Error The error is adjusted down using a Proportional Constant (Kp) of.4 Left edge of the line is followed Example 1: light sensor reading is 90 (robot drifted too far to the left of the line) Error = light sensor reading ideal reading = = 40 Adjusted Error = Error X Proportional Constant = 40 X.4 = 16 Left Motor Power = base power + error = = 51 Right Motor Power = base power error = = 19 07/02/2012 Programming with EXCEL - Tony Ayad 17
18 Master Program Flowchart Set Program to 1 Right Key pressed? No Left Key pressed? No Enter Key Pressed? No Yes Yes Yes Add 1 to Program Subtract 1 from Program Read Command Program > 5? No No Command No Program < = 1? END? Run Command Yes Set Program to 1 Yes Set Program to 5 Yes Close Command File Display Program Name Add 1 to Program The master program is used to automatically advance to the next program to minimize the required scrolling through to find the next program that needs to be run. 07/02/2012 Programming with EXCEL - Tony Ayad 18
19 Master Program 07/02/2012 Programming with EXCEL - Tony Ayad 19
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