PROGRAMMING

In this entry, I will explain regarding the TCR-2009 Version 2.0 programming. The TCR-2009 use two NXT Bricks for it operations, therefore there were two types of programming that created.

NXT 1 Programming:

For robot movement

tcr-nxt-1-shot

NXT 1 Program Details:

Icon 1: Move

  • Port: B & C
  • Direction: Forward
  • Steering: Forward
  • Power: 75
  • Duration: Unlimited
  • Next Action: n/a

Icon 2: Wait

  • Control: Sensor
  • Sensor: Ultrasonic Sensor
  • Port: 4
  • Until: <13
  • Show: Centimeters

Icon 3: Move

  • Port: B & C
  • Direction: Stop
  • Steering: n/a
  • Power: n/a
  • Duration: n/a
  • Next Action: Break

Icon 4: Wait

  • Control: Sensor
  • Sensor: Sound Sensor
  • Port: 3
  • Until: > 50

Icon 5: Wait

  • Control: Time
  • Until: Seconds 2

Icon 6: Move

  • Port: B & C
  • Direction: Reverse
  • Steering: Reverse Straight
  • Power: 50
  • Duration: 1 Rotation
  • Next Action: Break

Icon 7: Wait

  • Control: Time
  • Until: Seconds 1

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NXT 2 Programming:

For Conveyors operation
tcr-nxt-2-shot

NXT 2 Program Details:

Icon 1: Switch

  • Control: Sensor
  • Sensor: Light Sensor
  • Port: 1
  • Compare: >40
  • Function: Generate Light

**Below icon will be place in the “bright” sequence.

Icon 2: Move

  • Port: B & C
  • Direction: Forward
  • Steering: Forward Straight
  • Power: 100
  • Duration: Unlimited
  • Next Action: n/a

Icon 3: Sound

  • Action: Sound File
  • Control: Play
  • Volume: 100
  • Function: Repeat
  • File: ! Hydraulic 02
  • Wait: n/a

Icon 4: Wait

  • Control: Sensor
  • Snesor: Sound Sensor
  • Port: 4
  • Until: >50

Icon 5: Sound

  • Action: Sound File
  • Control: Stop
  • Volume: n/a
  • Function: n/a
  • File: n/a
  • Wait: n/a

Icon 6: Move

  • Port: B & C
  • Direction: Stop
  • Steering: n/a
  • Power: n/a
  • Duration: n/a
  • Next Action: Break

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Programming Explanation
The robot will move forward until the Ultrasonic Sensor detecting  the ball which in 13 cm range. Then, the robot will stop  moving. Now, the second NXT will perform its operation.

If the robot detecting the Red colour ball (which more bright than Blue colour ball), both conveyor motors will rotating the conveyor to suck the red ball. At the same time, the “hydraulic 02″ sound will be starting. The sound sensor use to stop the conveyor motor. When the robot detecting any sound more than 50 dbs such as from whistle  or shout, the conveyor motor will stop from sucking the ball. At the same time, the “hydraulic 02″ sound will stop.

Then, the first NXT will continue it operation. When the robot detecting above 50 dbs sound (at same time with the second NXT), the robot will be waiting for 2 seconds for the next operation. The robot will move backward for one rotation, and waiting for one second before it move forward again as at the beginning of the program.

Legends:
Red Text: NXT 1 Operation
Blue Text: NXT 2 Operation

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To download the TCR2009 programming (NXT1.rbt and NXT2.rbt file), please click on the “TCR2009 program box” at the right sidebar.

For any inquiries, please leave us a comment. Till then, good bye.

What next? I will uploading the steps of robot construction video and pictures via using Lego Digital Designer in the next entry! Just wait!

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