Vex robotics lesson plan (modified 12 13 16) by Donald Bertrand

VEX Robotics Lessson Plan PROGRAM OVERVIEW Building upon RoboAchiever’s many implementations of its Lego Mindstorms’ RCX Robotics platform, we are now pleased to introduce “competition grade” robotics training with a strong VEX Robotics curriculum. VEX competitions are routinely held in Connecticut and throughout the Nation. The company has a full complement of VEX Robotics licenses to for student use in completing online Robot Virtual World training. The Company’s Founder and CEO, Don Bertrand, is a Certified VEX Robotics instructor as awarded upon successful completion of Carnegie Mellon Robotics Academy’s instructor training program.

This program is conducted in 3 parts. The first involves construction of the Clawbot robot, it’s initial setup and operation. The second involves RobotC code learning, primarily through RoboAchiever’s licensed seats for Robot Virtual World’s online instruction. The third provides detailed implementation of all that was previously learned, as students attack the presented robot task challenges.

The Clawbot’s construction follows the workflow stages presented on the VEX EDR Curriculum website. The curriculum is made freely available for educational purposes. Source: http://curriculum.vexrobotics.com/curriculum/intro-to-autodesk-inventor/building-the-clawbot Copyright © 2002-2015. Curriculum content is made freely and publicly available by VEX Robotics, Inc. solely for educational use and may not be reproduced, modified and redistributed without attribution to VEX Robotics. Curriculum, or any portion thereof, may not be used for monetary gain without the explicit consent of VEX Robotics. VEX and VEX Robotics are trademarks or service marks of Innovation First International, Inc. All Rights Reserved. VEX Robotics, Inc. is a subsidiary of Innovation First International, Inc.

Likewise, we provide our students licensed access to the coding tools and challenge exercises provided in RoboMatter’s Robot Virtual World and VEX Robotics programs. Use of these tools requires coding instructions that we provide under the freely available CS-STEM (CS2N) online platform. We again here state the provider’s terms in full. Source: http://learn.cs2n.org/course/view.php?id=106

Welcome to the Computer Science Student Network’s CS2NLearn, a self-paced Learning Management system (LMS). At CS2NLearn you will find free access to Robotics Academy training materials, but you will need to register at cs2n.org

SETUP Downloading VEX programs to Clawbot's operational cortex http://www.education.rec.ri.cmu.edu/products/teaching_robotc_cortex/setup/sample/downlo ad_sample.pdf VEX Robotics Software Download https://www.youtube.com/watch?v=FapTAlqtrGI Connect VEX Cortex to Computer https://www.youtube.com/watch?v=y5MWKhhUpCc

WEEK 1 Intro to Robotics and Program Plan Today you will: See an introduction to robotics by NASA engineer: LINK  Robotics Engineer Video See demonstration of robot you will build: DEMONSTRATE See a jobs board showing the many types of jobs here in Connecticut that ask for knowledge of computer operation, including robotics: LINK  Do an exercise with your chosen partner to practice what it’s like to be a robot, doing only what you’re directed, and a robot commander, carefully thinking through the right words use for your robot to clearly understand what you want it to do Explanation of this Expedition's course plan for RCX learning and development VEXRobotics End Goal: For you to learn how to write a version of popular C language program called RobotC to upload computer code to a robot that directs how it is to respond to what it encounters in its environment using sensors (light, contact, distance) by moving, turning, stopping, gripping or more as you direct. ALL WITHOUT HAND-HELD REMOTE CONTROL. This is call autonomous, self-directed operation even though its you that will have fed the robot the code. 1. First we will be introduced to the RobotC coding language to navigate a robot to accomplish certain tasks on the computer. This will be the same type of code we will use for the VEX robot we will build 2. VEX Robot Build 3. Review of Applications, Jobs, industries involving Robotics (focus on Sikorsky robotics) 4. RobotC Upload to VEX Robot 5. Challenge Design for autonomous robot movement 6. Challenge Design for joystick robot movement 7. SHOW OFF WEEK Demonstration of pre-built RCX robot navigation of Instructor's standard course challenge Show BOTH autonomous operation and joystick goblet retrieve and place

WEEK 2 VEX RobotC Coding http://www.education.rec.ri.cmu.edu/products/cortex_video_trainer

Robots are designed to solve specific problems, in specific ways. In this section, you will learn more about your role as the Programmer, along with some guidelines and tips when using ROBOTC.

1. Introduction to Programming Every journey needs a beginning. Click on one of the links below to begin your first lesson in robotics!

1. Programmer and Machine 2. Planning and Behaviors 3. ROBOTC Rules Part 1 4. ROBOTC Rules Part 2

. Natl Language Programming OPTIONAL: The ROBOTC Natural Language is designed to lower the barrier of entry into syntax-based programming by providing a set of robot behaviors that are easy-to-use and easy-to-remember.

1. Programming Reference Documents

In order to begin programming, you will need to install ROBOTC, build a robot, load the robot with the proper firmware to run ROBOTC programs, and then make sure it all works by downloading and running a sample program on the robot.

Bui

Build a robot using the VEX Robotics Design System

3. Clawbot with Sensors Building Instructions

Building the VEX Clawbot http://curriculum.vexrobotics.com/curriculum/intro-to-autodesk-inventor/building-the-clawbot There are 16 design videos to walk the student through the assembly and animation of the Clawbot. Click on each video to review the content. Pause, rewind, fast forward and stop features are available as the student reviews the content.     

In this video, all the key phases for modeling a VEX Clawbot robot in Autodesk Inventor software will be reviewed. Modeling the robot in Autodesk Inventor consists of assembling parts from the virtual kit of parts library. The key phases in the required workflow are reviewed in this overview video. Video 2: Start a New Assembly Click here to download this video.

In this video, students learn that the structural frame members have square holes that have to be aligned correctly.

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WEEK 3 No robot? No problem! Here you will learn how to program for Robot Virtual Worlds.

1. Downloading your First Program (Virtual) 2. Camera Operation in Robot Virtual Worlds 3. The Measurement Toolkit [CLAWBOT BUILD] Video 3: Complete the Base Frame Click here to download this video.

In this video, students will assemble all the parts required for the base frame by adding three more C-channels and a bumper. Video 4: Add Standard Parts to the Assembly

Click here to download this video.

In this video, students use standard parts to assemble the frame. Note: The template check shown when creating the subassembly in the video is for an Imperial template; note there is a metric equivalent found in the metric folder.

WEEK 4

Your first project-based challenge will be a maze called "The Labyrinth". Successful completion of this challenge will require a thorough understanding of the movement behaviors and commands available in ROBOTC. Beware! Not all versions of the Labyrinth are the same. Your board, your robot, and your program may all differ from the ones shown in the video... now is your time to shine as a problem-solver and programmer!

1. Labyrinth Challenge

2. Moving Forward Moving forward using motor commands and timing.

1. Program Dissection 2. Reversing Motor Polarity 3. Renaming Motors 4. Timing

3. Speed Modifying motor commands to move in different ways.

1. Motor Power Levels 2. Turn and Reverse 3. Manual Straightening Video 5: Assemble Bearing Flats and Rivets Click here to download this video.

In this video, students add bearing flats and rivets to the base frame. VEX robot drive shafts rotate in bearing flats. These flats are held onto the frame using bearing pop rivets. Video 6: Assemble the Driveshaft and Collar Click here to download this video.

Note: Metric equivalents -0.375" = -9.5mm

WEEK 5 Using the Shaft Encoders to control the distance the robot travels.

1. Shaft Encoders 2. Forward Until Distance Part 1 3. Forward Until Distance Part 2 4. The Sensor Debug Window 5. Forward and Turning Video 7: Assemble a Wheel Click here to download this video.

In this video, students add a wheel to the Clawbot. The wheel assembly consists of a 60 tooth gear, spacer, 4-inch wheel and a collar. Video 8: Create a Wheel Subassembly Click here to download this video.

In this video, students simplify the placement of wheel parts by creating a subassembly. To reduce the time required to create a wheel assembly, the parts are demoted into a subassembly. With the wheels in place, a 60-tooth gear is added between the wheels, and motion constraints are added to the gears. Note: The template check shown when creating the subassembly in the video is for an Imperial template; note there is a metric equivalent found in the metric folder. The metric equivalents of the Imperial offsets shown are -0.375" = -9.5mm and -0.875" = -22mm. Video 9: Align the Gears Click here to download this video.

In this video, students use work planes to align the gear teeth. To correctly align the gear teeth, work planes are created through the center of the teeth or a gap between the teeth. These work planes can be used to align the teeth by constraining the work planes to each other. Using the Shaft Encoders to self-correct the robot's forward movements.

1. Automated Straightening Part 1 2. Automated Straightening Part 2 3. Values and Variables Part 1 4. Values and Variables Part 2

6. Integrate Video 10: Assemble the Claw Arm Drivetrain Click here to download this video.

In this video, students build the claw arm drivetrain using gears, shafts, and shaft collars. The claw arm drivetrain is assembled using 84 tooth gears, 12 tooth gears, shafts, and shaft collars. The gears are aligned using work planes like the wheel drivetrain. Video 11: Add the Cortex Microcontroller

Click here to download this video.

In this video, students assemble the Cortex microcontroller and battery straps onto the base frame. Motors are added to the wheel drivetrain and the motion of the gears and wheels is checked.

WEEK 6 Using the Integrated Motor Encoders to move more accurately.

1. Forward for Distance with IME's 2. Principles of PID Control 3. Forward for Distance with PID Control 4. Forward for Target Distance Video 10: Assemble the Claw Arm Drivetrain Click here to download this video.

In this video, students assemble the Cortex microcontroller and battery straps onto the base frame. Motors are added to the wheel drivetrain and the motion of the gears and wheels is checked. Video 12: Assemble the Claw Arm Click here to download this video.

In this video, students add the claw arm to the Clawbot assembly. The channel is constrained to the 84-teeth gears.

WEEK 7

One powerful feature of the VEX EDR is its ability to be driven using the VEXnet Remote Control, in addition to being a fully capable, autonomous robot. This ability will prove to be indispensable in situations where direct human input is crucial. In this section, you will learn how to program your robot to react to input from the VEXnet Remote Control.

1. Challenge In this challenge, your robot will need to run both autonomously, and on input from the VEXnet Remote Control to navigate through a minefield.

1. Minefield Challenge Putting real-time control or your robot at your fingertips.

1. Introduction to Remote Control 2. Real-Time Control 3. Joystick Mapping Values Part 1 4. Joystick Mapping Values Part 2 Video 13: Complete the Robot Assembly Click here to download this video.

In this video, students add the remaining parts to complete the robot assembly. The claw is constrained to the claw arm. Braces are added to provide additional support to the vertical channels. Video 14: Render and Animate the Robot Click here to download this video.

In this video, students use Inventor Studio to create rendered images and an animation of the robot.

WEEK 8Time Controlling behaviors with values collected over time.

1. Time and Timers 2. Using Timers

4. Button Giving your robot the power to compete in the Minefield Challenge.

1. Remote Control Buttons 2. Remote Start 3. Controlling the Arm Part 1 4. Controlling the Arm Part 2 5. Controlling the Arm Part 3

WEEK 9ime

Robots separate themselves from simpler machines through their ability to detect and respond to their surroundings. In this section, you will learn how to take advantage of the multiple sensors available to the VEX EDR.

1. Challenge The Grand Challenge will put both your robot and your programming skills to the test.

1. The Grand Challenge

2. Limiting the Arm Using the Limit Switch and Potentiometer to effectively control the robotic arm.

1. Configuring Sensors 2. Limiting the Arm Part 1 3. Limiting the Arm Part 2

WEEK 10meand Functions Transforming robot behaviors into powerful and convenient functions.

1. Behaviors and Functions 1 2. Behaviors and Functions 2 3. Passing Parameters Part 1 4. Passing Parameters Part 2

4. Forward until Near Moving near an object or obstacle using the Ultrasonic Rangefinder.

1. The Ultrasonic Rangefinder 2. Forward until Near 3. Straight until Near 4. Straight until Near (Fine Tuning)

5. Line Tracking

WEEK 11meand Following a line using the Line Tracking sensors.

1. The Line Tracking Sensors 2. Calculating Thresholds 3. Basic Line Tracking 4. Line Tracking for Distance 5. Optimized Line Tracking

6. Turn for Angle Using the Gyro Sensor to make more accurate turns.

1. The Gyro Sensor 2. Turn for Angle 1 3. Turn for Angle 2

7. Usg the LCD

WEEK 12meand

Appendix Print Materials Fundamentals 1. Behaviors 2. Psudocode & Flowcharts 3. Thinking About Programming 4. White Space 5. Reserved Words 6. Comments 7. ROBOTC Error Messages 8. ROBOTC Rules 9. Natural Language - VEX EDR Reference 10. Natural Language - VEX PIC Reference 11. Sense Plan Act (SPA) 12. Boolean Logic 13. While Loops 14. Shaft Encoders 15. Line Follower 16. Servo Module 17. Behavior Based Programming 18. White Space 19. If-Else Statements 20. Ultrasonic Rangefinder 21. Light Sensor 22. VEX Claw 23. Psudocode & Flow Charts 24. Thresholds 25. Functions 26. Touch Sensors 27. Accelerometer 28. VEX Flashlight 29. Comments 30. Variables 31. Timers 32. Potentiometers 33. VEX LED

Setup 1. VEX EDR Driver Installation 2. Establish a VEXnet Link 3. VEXnet Joystick Calibration

4. USB-to-Serial Cable Driver Installation 5. Download Sample Program Over USB

Movement 1. 2. 3. 4. 5. 6.

Running a Program While Loops If - Else Statements Variables Global Variables Integrated Encoder Module

Remote Control 1. Timers

Sensing 1. Servo Modules 2. Switch Cases 3. Potentiometers 4. Thresholds

The workflow in these videos includes: Assembling the base frame using simple pick and place techniques Placing gears and wheels Inserting motors Aligning the gears so that they drive the other gears and wheels correctly Using Inventor Studio to create rendered images and an animation of your robot design Overview Click here to download this video. In this video, all the key phases for modeling a VEX Clawbot robot in Autodesk Inventor software will be reviewed. Modeling the robot in Autodesk Inventor consists of assembling parts from the virtual kit of parts library. The key phases in the required workflow are reviewed in this overview video. Video 2: Start a New Assembly Click here to download this video.

In this video, students learn that the structural frame members have square holes that have to be aligned correctly. Video 3: Complete the Base Frame Click here to download this video.

In this video, students will assemble all the parts required for the base frame by adding three more C-channels and a bumper. Video 4: Add Standard Parts to the Assembly Click here to download this video.

In this video, students use standard parts to assemble the frame.

Note: The template check shown when creating the subassembly in the video is for an Imperial template; note there is a metric equivalent found in the metric folder. Video 5: Assemble Bearing Flats and Rivets Click here to download this video.

In this video, students add the drive shafts and collars to the base frame assembly. The drive shafts are inserted into the bearing flats. Collars are added to the ends of the shaft to hold the shaft in place. Note: Metric equivalents -0.375" = -9.5mm Video 7: Assemble a Wheel Click here to download this video.

In this video, students use work planes to align the gear teeth. To correctly align the gear teeth, work planes are created through the center of the teeth or a gap between the teeth. These work planes can be used to align the teeth by constraining the work planes to each other. Video 10: Assemble the Claw Arm Drivetrain Click here to download this video.

In this video, students add the claw arm to the Clawbot assembly. The channel is constrained to the 84-teeth gears. Video 13: Complete the Robot Assembly Click here to download this video.

Click here to download this video.

In this video, students use Inventor Studio to create rendered images and an animation of the robot.