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RoboCalc v1.0 DownloadDownload
 

Platform: TI-89 / TI-92 Plus / V200 (Flash Application)
Released On: 07/01/2008
Produced By: Greg Dietsche
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About RoboCalc

The RoboCalc project is designed to lower the learning curve required to operate and program the Norland Research Robot. This program is a great addition to any classroom utilizing Norland Research's robot! With RoboCalc, students can easily control the robot using easy to remember mnemonics instead of hard to remember numbers. RoboCalc has been designed and developed independently by Detached Solutions and has no relationship with Norland Research!

All RoboCalc commands follow a simple three part format which makes them easy to remember:

  1. The first section indicates the mode of operation tells the robot how to use it's sensors:
    1. T=Timed
    2. S=Switch
    3. TS=Time and Switch
  2. The second section tells the left tire how to behave:
    1. F=Forward
    2. N=Neutural
    3. B=Backward
  3. The third section tells the right tire how to behave:
    1. F=Forward
    2. N=Neutural
    3. B=Backward

When we put this all together, we can make the robot perform an action. For example, if we want the robot to move forward for one second, we would write the command TFF(1000). If we want the robot to move forward until it hits an object with the switch, we would write SFF() in our TI-Basic program.

Command Reference:

Command
Short Description
Full Description
about Show the RoboCalc About Dialog

AboutRC()

Show the RoboCalc About Screen

Easter Egg: Type a capitol G in this screen to see some action!

checkbot Check If The Robot Is Connected Properly

CheckBot()

Checks for a connection to the robot, resets the link interface and sets the robot to factory defaults. This function returns true if the robot is ON and connected to the calculator.

clb Calibrate Left Wheel, Backward Dir CLB(INT)

Calibrate left backward pulse length (valid range is 0 - 255).
clf Calibrate Left Wheel, Forward Dir CLF(INT)

Calibrate left forward pulse length (valid range is 255 - 0).
crb Calibrate Right Wheel, Backward Dir CRB(INT)

Calibrate right backward pulse length (valid range is 255 - 0).
crf Calibrate Right Wheel, Forward Dir CRF(INT)

Calibrate right forward pulse length (valid range is 0 - 255).
cs Check Bumper Switches

CS()

Find which bumper switch caused the robot to stop.

1 = Left Switch
2 = Right Switch
3 = Both Switches

csd Use Factory Default Calibration Settings CSD()
Resets all robot calibration settings to their defaults.
csn Check Bumper Switches Now CSN()

Check to see if a bumper switch is pressed NOW.

1 = Left Switch
2 = Right Switch
3 = Both Switches
distcal Calibration for Drive & Turn Commands DistCal()

Allow the robot to move one unit of distance forward before the bumper is triggered. Distance traveled should be equal to the circumference of the wheels.
drive Robot moves forward/backward x units Drive(INT)

Move the robot forward x units. If the unit value is negative, the robot moves in reverse.
Distance traveled is 1/3 of distance set with distcal().
hitec Switches to Hitec Servo Mode Hitec()

If your robot uses Hitec servos, run this command to calibrate the robot so that it works correctly with RoboCalc.
resetlnk Reset the robot link interface ResetLnk()

Follow this sequence to reset the robot link interface:
1. Turn off the robot
2. Execute this command
3.Turn Robot Back On
sbb Switch;Backward;Backward SBB()

Move backward until a bumper switch is triggered.
sbf Switch;Backward;Forward SBF()

Turn in place to the left until a bumper switch is triggered.
sbn Switch;Backward;Neutral SBN()

Turn left while pivoting on the right wheel until a bumper switch is triggered.
sfb Switch;Forward;Backward SFB()

Turn in place to the right until a bumper switch is triggered.
sff Switch;Forward;Forward SFF()

Move forward until a bumper switch is triggered.
sfn Switch;Forward;Neutral SFN()

Turn right while pivoting on the right wheel until a bumper switch is triggered.
snb Switch;Neutral;Backward SNB()

Turn right while pivoting on the left wheel until a bumper switch is triggered.
snf Switch;Neutral;Forward SNF()

Turn left while pivoting on the left wheel until a bumper switch is triggered.
snn Switch;Neutral;Neutral SNN()

Do not move; wait until a bumper switch is triggered.
tbb Timed;Backward;Backward TBB(INT)

Move in reverse until the specified time in milliseconds elapses.
tbf Timed;Backward;Forward TBF(INT)

Turn in place to the left until the specified time in milliseconds elapses.
tbn Timed;Backward;Neutral TBN(INT)

Turn left while pivoting on the right wheel until the specified time in milliseconds elapses.
tfb Timed;Forward;Backward TFB(INT)

Turn in place to the right until the specified time in milliseconds elapses.
tff Timed;Forward;Forward TFF(INT)

Move forward until the specified time in milliseconds elapses.
tfn Timed;Forward;Neutral TFN(INT)

Turn right while pivoting on the right wheel until the specified time in milliseconds elapses.
tnb Timed;Neutral;Backward TNB(INT)

Turn right while pivoting on the left wheel until the specified time in milliseconds elapses.
tnf Timed;Neutral;Forward TNF(INT)

Turn left while pivoting on the left wheel until the specified time in milliseconds elapses.
tnn Timed;Neutral;Neutral TNN(INT)

Do not move; wait until the specified time in milliseconds elapses.
tsbb Timed&Switch;Backward;Backward TSBB(INT)

Move in reverse until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsbf Timed&Switch;Backward;Forward TSBF(INT)

Turn in place to the left until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsbn Timed&Switch;Backward;Neutral TSBN(INT)

Turn left while pivoting on the right wheel until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsfb Timed&Switch;Forward;Backward TSFB(INT)

Turn in place to the right until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsff Timed&Switch;Forward;Forward TSFF(INT)

Move forward until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsfn Timed&Switch;Forward;Neutral TSFN(INT)
Turn right while pivoting on the right wheel until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsnb Timed&Switch;Neutral;Backward TSNB(INT)

Turn right while pivoting on the left wheel until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsnf Timed&Switch;Neutral;Forward TSNF(INT)

Turn left while pivoting on the left wheel until a bumper switch is triggered, or the specified time in milliseconds elapses.
tsnn Timed&Switch;Neutral;Neutral TSNN(INT)

Do not move; wait until a bumper switch is triggered, or the specified time in milliseconds elapses.
turn Robot Turns x degrees Turn(INT)

Turns the robot the number of degrees specified. You must first calibrate the robot using distcal().
version Returns the version number of RoboCalc Version()

Returns the RoboCalc version number as a decimal value.

$Id: index.htm 280 2008-06-29 22:45:48Z dietsche $
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Last Modified: 2008-06-29 17:38:57 GMT