EV3 Programming Overview for FLL Coaches

A very big high five to Tony Ayad

2013 Natures Fury Coach Call Basic programming of the Mindstorm EV3 Robot
People Introductions Deborah Kerr & Faridodin Lajvardi - FIRST Senior Mentor Jason Yount - Technical Training Manager - LEGO Education North America Glenn Swinson , FIRST FLL Logistics Manager Main Topic: Jason will walk through a slide set for programming the EV3 robot This call is meant to present Basic programming, not advanced methods, and thus geared toward newcomers to the Mindstorm and FLL experience Technical Support where to get help Q&A

Outline
Purpose: This workshop is intended for FLL coaches who are interested in learning about Mindstorms EV3 programming language. Programming EV3 Controller (aka: the brick) User Interface Building Blocks Controlling the robot with MOVE Blocks What is New: EV3 vs. NXT Turns - there is more than one way to turn Geometry and Math for the Robot Gyro Sensor Advanced Programming Light Sensor Program Control (WAIT, LOOP, SWITCH Blocks) Math (VARIABLES, MATH and COMPARE Blocks) My Block Resources

EV3 Brick
2 = Center, press the center button to select and accept options, or run a program. 1 = Back, this button is used to reverse actions, to stop a running program, and to shut down the EV3.

1 3

3 2 3 3

3 = left, right, Up, Down These four buttons are used to navigate through the various menus.

Programmable EV3 Brick

Four outputs (motors) Four inputs (sensors) USB, Bluetooth, or Wi-Fi connection Improved LCD screen 16 MB flash memory 64 MB RAM SD Card Port: 32 GB Multiple onboard utilities 1,000 samples per second EV3 Brick Button lights Sound

Ports, Sensors and Motors

1, 2, 3, 4 = Input ports used for sensors.

A, B, C, D = Output ports used for motors.

The PC USB port is used to connect to The PC so you can download the Programs into EV3 Controller

Large Motor

Medium Motor

EV3 Motors
Two types of motors Redesigned to allow easy construction The Large Motor is a strong and powerful full motor. The Medium Motor is a less powerful motor but runs at a higher revolution rate.

Both motors have tacho feedback enabling 1 degree resolution.

Both motors are Auto IDsupported. The Medium Motor is smaller and lighter to allow more construction options.

EV3 Ultrasonic Sensor

Detects distance Accurate to 1 cm or 0.3 inches Can listen for other ultrasonic sensors Improved design for easier build solutions

Eyes light up to identify which mode the sensor is operating in

Auto ID

EV3 Color Sensor

Detects eight different colors Detects ambient light, from dark to sunlight Detects reflective red light Built-in cancelling of backlight makes sensor more reliable Improved design for easier build solutions Auto ID

Touch Sensor
Detects pressed Detects released

Detects bumped
Improved design for easier build solutions

Auto ID

Gyro Sensor
Angle mode Gyro Sensor mode Angle and Gyro Sensor modes Can reset accumulated angle value Improved design for easier build solutions Auto ID

EV3 Navigation
Open a previously saved project Lobby Button Open New Project

Open New Project or previously saved ones

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Robot Educator

Projects and Programs

Opened Project

Project Properties Currently Opened Programs belonging to opened project

Click to create a new program within the current project

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Programming Environment Workspace

Programming canvas where you can lay out the programs blocks / instructions

Programming palettes where you can find the various building blocks

Hardware page establishes communication with the EV3 brick and where you download programs into the EV3, view memory usages, battery level, and to find out motors or sensors and where they are connected.
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The Communication Pane

Connection status Download programs ready to be run Download/play programs instantly Download a section of a program to run Intelligent EV3 Brick status: name and battery level, etc. Port status and sensor readings Type of connection between the EV3 Brick and the computer (BT, Wi-Fi, or USB)

Content Editor
Animations Build guides Interactive guides Sample programs Challenges Save as a project Teacher and student modes Edit facility

Palettes
Action Blocks

Medium Motor, Large Motor, Move Steering, Move Tank, Display, Sound, Brick Status Light. Flow Blocks

Start, Wait, Loop, Switch, Loop Interrupt Sensor Blocks

Brick Buttons, Color, Gyro, Infrared, Motor Rotation, Temperature, Timer, Touch, Ultrasonic, Energy Meter, Sound

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Palettes
Action Blocks

Variable, Constant, Array, Logic, Math, Round, Compare, Range, Text, Random

Advanced Blocks

File Access, Data Logging, Messaging, BlueTooth, Keep Awake, Raw Sensor Value, Unregulated Motor, Invert Motor, Stop Program My Blocks

Block you create to repeat same actions in multiple programs. Programmers refer to this as subroutines or functions.

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Controlling the EV3 Motors

Instructing the robot to move and turn is accomplished by the Large Motors which rotate in a predetermined direction where positive amount of power (e.g. 75), will cause a clockwise rotation and negative power (e.g., -45) will cause a counter-clockwise rotation.

Negative Power (-60)

Positive Power (+60)

NOTE: the same concept applies the medium motor.

All examples used in this document assume the robot configuration and motor is mounted as shown.

B - Motor C - Motor
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Move Steering Block

Move Steering Controls and regulates two motors. Both motors move either forward (positive power) or backward (negative power) Allows steering by applying more power to one of the two motors

Brake or Coast

Steering Control from (-100- 100) where 0 = move straight; Positive# = C more power than B negative# = B more power than C

Power (100 to -100); positive number is move forward; negative, moves backward. Note: small amount of power may cause the robot to stall.

Number of motor degrees, rotations or seconds

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Move Tank Block

Move Tank Control two motors and allows each motor to move with different power level including in different direction for turning or spinning. For turning: one motor has zero power; the other has positive (forward) or negative(backward) power. When zero power is specified, the motor is locked and will not move to ensure accurate turns For spinning, use positive power for one and negative for the other

Brake or Coast

Power (100 to -100); positive number is move forward; negative, moves backward. Note: small amount of power may cause the robot to stall.

Number of motor degrees, rotations or seconds

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Large Motor Block

Large Motor Control a single large motor When zero power is specified, the motor is locked and will not move to ensure accurate turns

Brake or Coast

Power (100 to -100); positive number is move forward; negative, moves backward. Note: small amount of power may cause the robot to stall.

Number of motor degrees, rotations or seconds

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Medium Motor Block

Medium Motor The Medium Motor block controls the Medium Motor. You can turn the motor on or off, control its power level, or turn the motor on for a specified amount of time or rotations When zero power is specified, the motor is locked and will not move Use positive or negative power to control direction

Brake or Coast

Power (100 to -100); positive number is move forward; negative, moves backward. Note: small amount of power may cause robot to stall.

Number of motor degrees, rotations or seconds

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Steps to create a program

1. Click and hold block with left mouse button to drag it

2. Drop the programming block when grey box appears

3. Select / enter options

4. Click download to compile and load the program in the EV3 controller

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Whats new
All files are stored within the Project file, i.e., programs, my blocks. You can move / copy the project file to other computers and it will work. Now you can backup the entire project or even use a memory stick to store your project! Turning on/off the EV3 now takes about 30 seconds

The MOVE block is replaced by the MOVE STEERING and MOVE TANK blocks MOVE STEERING has single power control; motors are regulated, i.e., if one motor moves faster than the other, the faster motor will be slowed down to compensate. MOVE TANK: has independent power controls for each motor where one can move faster than the other or even in opposite direction. This too is regulated.
NOTE: with limited testing, it appears that issues using steering in NXT are solved in EV3!

The MOTOR block is replaced by LARGE MOTOR and MEDIUM MOTOR In NXT-G you specified direction, in EV3, you specify either negative or positive power to control the direction of the motors The unlimited duration option is replaced by ON The STOP option of MOVE and MOTOR blocks are replaced by OFF
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Whats new the much improved Math Block!!!

As with the NXT, you can Add, Subtract, Divide, Multiply, and obtain the absolute value. Now you can calculate an exponent and CREATE YOUR CUSTOM FUNCTION under the Advanced option! You have up to 4 variable which can be initialized with wires from other math blocks or typed-in.

Then you can enter your own function and obtain the result
This reduces the number of math blocks used. QUIZ: what is the answer?

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Whats new continued

LOOP blocks can be given names The LOOP block can be stopped with a condition within the loop or with a new LOOP INTERRUPT Multiple parallel programming sequences can be created using a new START block Multiple sequences can run simultaneously Clicking the green arrow of the START block, will compile and download the entire program to your EV3, but only the selected sequence will run.

Walk and Chew gum At the same Time!

Use the Invert Motor block to have a normal forward and backward directions swapped. Any programming blocks after the Invert Motor block that would normally make the motor turn clockwise will instead make the motor turn counter-clockwise, and vice-versa. Programming Bug NOTE: IT DOESNT WORK with Move Steering or Move Tank. Built-in light sensor calibration is gone! You have to build your own (see example on the following pages)
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What is New - Continued

In order to use NXT sensors with EV3, a new RAW SENSOR VALUE block is included Although you can use the NXT light sensor, you have to write a program to calibrate and interpret the reading using the RAW SENSOR VALUE block REMEMBER: Raw white reading is less than black!!! How do we compute light intensity for NXT light Sensor
First, we have to know the white raw value and the black raw value For example, if we measure the white black values as in light calibration, the numbers will be around 1300 for White and 2300 for black To compute the light intensity of X, we use this formula
Step 1: Range = Black White = 2300 2000 = 1000 White 1300 Range = Black White = 2300 1300 = 1000

X
2000

Black 2300

Step 2: Black - X 2300 - 2000 Intensity = = .3 or 30% = 1000 Range

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Whats New Continued

The NUMBER to TEXT block, which was used to convert numeric values to text so they can be displayed, was eliminated! Logic and numeric Data wires can be automatically converted as described below. From Type Logic Logic To Type Numeric Text Result False = 0, True = 1 False = 0, True = 1

Numeric

Text

Text representation of the number (For example, 3.5)

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Turn vs. Spin

There are two ways in which you can make the robot turn Make ONLY one motor move, or Using both motors moving in opposite direction, and this is referred to as spinning"

B
One Motor move: Right Turn Use MOVE TANK block and select a power level for the B motor and zero for the "C" motor In this case the robots right wheel will be stationary and the left wheel will move.

Right brake

Forward B
Turning with two motors in opposite direction To turn right, use the MOVE TANK block where the B motor will turn clockwise (positive power) and the C motor will turn counter clockwise (negative power).
TIP: for turning in a tight spot, use the two motors.
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Backward

Turns Continued
To make 180 degree right turn using a tank move or large motor

Start Position
B
C

End Position

C B

To make 180 degree right turn using tank move (spin in place)

Start Position
B C

End Position
C B

Note the distance travelled is shorter (exactly half) when using both two motors.

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Geometry and Math

Fun way to see that what is learned in school can be applied to the FIRST LEGO Leagues robots.
Note: it may be a stretch for younger teams that have not covered these concepts in school.

C = x Diameter

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Inches to Motor Degrees

The Circumference of the robots wheel determines the number of inches it will travel in 1 rotation Circumference of wheel = x Diameter Degrees traveled per inch = 360 / circumference of wheel 3.2 inches Circumference of wheel = x Diameter = 3.14 x 3.2 = 10.0 inches Degrees traveled per inch = 360 / 10.0 = 36 motor degrees 1 Rotation = 10 inches 2.2 inches

Circumference of wheel = x Diameter = 3.14 x 2.2 = 6.9 inches Degrees traveled per inch = 360 / 6.9 = 52 motor degrees
1 Rotation = 7 inches

1.6 inches

Circumference of wheel = x Diameter = 3.14 x 1.6 = 5 inches Degrees traveled per inch = 360 / 5 = 72 motor degrees 1 Rotation = 5 inches

You can use a ruler or measuring tape to plan mission

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Measuring turn travel distance More Geometry!

When the robot turns using one motor, it will make a circle whose Radius is the distance between the wheels In this case, the radius is 5.5 inches Circumference = 2 X X R = 2 X 3.14 x 5.5 = 34.5 inches

5.5 in

5.5 in

2.2 inches If the robot is using the wheel whose diameter is 2.2 inches and therefore its circumference is 7 inches, how many wheel rotations will it take to make a complete robot turn rotation (34.5 inches)?
Circumference of Robot Turn Circle Circumference of Robots Wheel

Diameter X Diameter X

11 X 3.14 2.2 X 3.14

4.9

Note: it takes 4.9 wheel rotations to make a complete (360 turn) (or 4.9 motor degrees to travel 1 degree of turn circle) Example: to make a 90 robot turn Motor Degrees = 90 X 4.9 = 441 Motor Degrees

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Turning the easy way Gyro Sensor!

The gyro sensor has Angle Measure Feature to allow you to control turns based upon the turn angle.
When the Gyro Sensor is attached to the robot, and robot turns to the right, the gyro sensor will report positive number; if the robot turns left, the Gyro Sensor will report a negative number. See example below

Negative

+
Positive

NOTE: you must reset the gyro sensor as the first step and immediately before turning so that your turn is measured from the robots current position!
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Programming Process
Analysis and Planning Steps Define the problem Brainstorm solution and select one KEEP IT SIMPLE! Plan and create a flowchart and take measurements
Programming suggestions Divide the program into small pieces Program one pieces at a time
Example: Move the robot to black line

Once the step is consistently repeatable, go to the next Whenever possible reuse repeatable combination of blocks using MYBLOCK Ask for help
http://forums.usfirst.org/forumdisplay.php?f=24 The questions should be generic and not specific to strategy

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Tips
For moving straight, the MOVE STEERING / MOVE TANK blocks have a
built-in PID to regulate the movement of B & C motors. If one motor falls behind, the MOVE STEERING block compensate by applying less power to the faster motor. For driving the robot, use the B & C motor ports; the A and D ports should be used for the robots arm. Using full motor power (100%) may cause erratic robot movement, use 75% or less. Conversely, too little power (below 25%) may cause the robot to stall. Brake at the end of each MOVE block to take advantage of the PID which self corrects to achieve more precise moves. Using Degrees is a more accurate way to move motors; using time, will be inconsistent when the batteries become weak The MOVE STEERING / MOVE TRACK block also keeps track of errors that accumulate in multiple blocks and adjusts itself. Use the brake option and also use the RESET block. REMEMBER: the tradeoff between speed and accuracy!

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Why Color / Light sensors?

One of the ways for the robot to know its location is to take advantage of the markings on the field mat. Every year, the Robot Games mat has lines or dark markings that can be detected by the color Sensor. In this section, we will cover the following How do color sensors work?

How to calibrate the color sensor?

Common use Programming Examples: Move until a dark line is encountered by the robot, Align the robot with a black line Follow a line

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Color Sensors reflected light mode

The COLOR SENSOR shines a light on the mat and reads the reflected brightness level (intensity) level, i.e. dark or bright, to help the robot recognize its position and through programming take action. Light intensity ranges from 0-100% On a bright (white) area of the mat the light intensity value will be above 50% On darker area (blue, black, green,), the light intensity value will be below 50%

70% 50% 20% 50% 70% Black Violet Dark Blue Dark Red / Brown

To obtain more accurate reading, make sure the light sensor is close to the mat (less than inch) Calibrate the sensor whenever light conditions change (see calibrate slide)
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How to write a program to calibrate the light sensor

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WAIT for light value block

The WAIT block keeps checking for the specified light intensity value and when the condition is met, the next step in the program is executed
Port: identify the NXT port where the light sensor is connected Enter value you would like to test.

Select > greater than or < less than. Example: if you select < and entered 50, and the light sensor encounters a black block, the result will be the test is True

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Wait Block Examples

Example 1:
Move until the robot detects a (black) dark line and stop

Example 2:
Move to detect a black line, using a LOOP block instead of WAIT. Simultaneously use the WAIT for time block and if two seconds elapsed, end the loop using LOOP INTERRUPT and stop the motors.

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Advanced Blocks and Example

To create a line follower program you will need to use the light sensor and repeatedly check the light value and adjust the robots position LOOP Block COMPARE Block Line follower examples Additional Blocks VARIABLE MATH COMPARE Data Hubs

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The LOOP Block

Sometimes, there are actions that you want to repeat. The LOOP block allows you to repeat those actions until an end condition is met (or becomes TRUE). Example: make the robot move around a box and return to its starting position To move along the box sides, it takes 8 blocks as follows:

Using the LOOP block, only

Repeat the loop 4 times

Warning: Deleting the LOOP block will also delete all the blocks within the loop. You can move the blocks out of the loop, then delete it.

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SWITCH block
The SWITCH block will check for a condition and will take one action if the condition is true and another action if the condition is false

B
The Switch block contains two or more sequences of programming blocks that are run based on condition.

Repeat the loop for 5 seconds

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Advanced Blocks
VARIABLE block The variable block is a bucket where you can store information and retrieve it at a later time. There are three types: Number, Text, and Logic

MATH block The math block allows the addition, subtraction, division or multiplication of two numbers.
Input Result

Input

COMPARE block The compare allows you to determine if one number is greater than, less than or equal to another number.
Result (True or False)

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VARIABLES create your own variables

To create your own variables 1. Click Project Property icon 2. Click the "Variables" Tab, 3. Then click on Add

4. Enter the variable name 5. Select the type 6. Press OK

9/26/2013

EV3 Programming - Tony Ayad

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My Block
My Block is a combination of one or more blocks that are grouped into a single "Block". Once created, it can be used in many programs. My Block can be used in the following ways: 1. Minimize the coding, if certain actions are repeated in multiple programs. Often, you need to repeat certain steps, for example, different programs require that the robot would back into the wall to re-orient itself. This process can be placed into a My Block. 2. Divide a program into smaller manageable pieces 3. Reduces the amount of memory used. 4. Clarify the action taken in programs by creating self explanatory My Blocks
Example 1: your program already includes 22 blocks and youre not finished. It is time to consider breaking up the program into chunks, i.e., My Blocks. Example 2: For turning left or right you use the LARGE MOTOR block. When someone is reviewing the program, they cant tell which way the robot is turning if you are only using MOTOR block. Solution: create a Turn Left My Block to make it easy to understand the program. Example 3: One youve fine tuned a perfect 90 degree turn, you can create your own My Block for the perfect 90 degree left and right turn.

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My Block Example Moving using inches instead of degrees

Objective: Build a move My Block that takes one input called duration which represent the number of inches 1. Select the Math & Move blocks
2. Under tools, select "My Block Builder

3. Type My Block Name MoveInches, and enter an optional description and select a my block icon 4. Click on the Parameter Icon, then enter parameter name and click on Finish.

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Using My Block
Once youve created My Block, it will become available on the My Block palette
1. Select the My Block palette

2. Drag and drop the My Block named "MoveInches" into the program

Type the number of inches into the "a" input valueThats it.

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My Block Tips
Use My Block to break down a large program into two or more My Blocks
If you create a My Block with one input and decided later to add another input, youll have to start over

If you create a My Block with two inputs and decided later to remove one, you cannot delete the input; either start over, or ignore it.

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Finally, the resources

FLL Forum where you can find answers to your questions from other coaches http://forums.usfirst.org/forumdisplay.php?f=24
FIRST http://www.usfirst.org/roboticsprograms/fll/ Video tutorials for both EV3 and NXT-G www.stemcentric.com A great tutorial on how to program in NXT-G www.ortop.org/NXT_Tutorial Instructions to build a variety of robots and sample programs www.nxtprograms.com Wish you had extra LEGO pieces? www.bricklink.com LA Region FLL website http://fll.larobotics.org/ LA Region FLL Google Group http://groups.google.com/group/LARFLL If all else fails [email protected] or [email protected]

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