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Updated Using Sensors (Blocks) (markdown)

FTC Engineering
2019-07-09 12:09:30 -04:00
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Using-Sensors-(Blocks).md

@ -8,20 +8,20 @@ Note that it will take an estimated 15 minutes to complete this task.
| Modifying the Op Mode to Display Distance | | Modifying the Op Mode to Display Distance |
| ---- | | ---- |
| 1. Verify that your laptop is still connected to the Robot Controller’s Program & Manage Wi-Fi network. | | 1. Verify that your laptop is still connected to the Robot Controller’s Program & Manage Wi-Fi network. |
| 2. Verify that “MyFIRSTOpMode” is opened for editing. If it is not, you can click on the FIRST logo in the upper left hand corner of the browser window on the laptop. This should take you to the main FTC Blocks Development Tool project screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep2ControlHub.jpg" width="350"></p>Click on the “MyFIRSTOpMode” project to open it for editing if it is not already opened. | | 2. Verify that “MyFIRSTOpMode” is opened for editing. If it is not, you can click on the FIRST logo in the upper left hand corner of the browser window on the laptop. This should take you to the main FTC Blocks Development Tool project screen.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep2ControlHub.jpg]]</p>Click on the “MyFIRSTOpMode” project to open it for editing if it is not already opened. |
| 3. Click on the “Utilities” category on the left-hand side of your browser. Find and click on the “Telemetry” subcategory.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep3ControlHub.jpg" width="175"></p> | | 3. Click on the “Utilities” category on the left-hand side of your browser. Find and click on the “Telemetry” subcategory.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep3ControlHub.jpg]]</p> |
| 4. Select the “call telemetry.addData” block (the numeric version) and drag it to the spot in your “while” loop block immediately before the “telemetry.update” block.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep4ControlHub.jpg" width="400"></p> | | 4. Select the “call telemetry.addData” block (the numeric version) and drag it to the spot in your “while” loop block immediately before the “telemetry.update” block.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep4ControlHub.jpg]]</p> |
| 5. Click and highlight the “key” text and change the text so it reads “Distance (cm)”.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep5ControlHub.jpg" width="400"></p> | | 5. Click and highlight the “key” text and change the text so it reads “Distance (cm)”.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep5ControlHub.jpg]]</p> |
| 6. Click and expand the “Sensors” category. Click on the “REV Color/Range Sensor” subcategory. Click on and select the “call sensorColorRange.getDistance” programming block.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep6ControlHub.jpg" width="600"></p>Note that earlier versions of the FTC Blocks Programming tool refer to the REV Robotics Color-Distance Sensor as the "LynxI2cColorRangeSensor". Newer versions of the software refer to the device as the "REV Color/Range Sensor". | | 6. Click and expand the “Sensors” category. Click on the “REV Color/Range Sensor” subcategory. Click on and select the “call sensorColorRange.getDistance” programming block.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep6ControlHub.jpg]]</p>Note that earlier versions of the FTC Blocks Programming tool refer to the REV Robotics Color-Distance Sensor as the "LynxI2cColorRangeSensor". Newer versions of the software refer to the device as the "REV Color/Range Sensor". |
| 7. Drag the “call sensorColorRange.getDistance” programming block to the “number” field of the “call telemetry.addData” programming block.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep7ControlHub.jpg" width="500"></p>This will send the measured distance to the target in centimeters back to the Driver Station. | | 7. Drag the “call sensorColorRange.getDistance” programming block to the “number” field of the “call telemetry.addData” programming block.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep7ControlHub.jpg]]</p>This will send the measured distance to the target in centimeters back to the Driver Station. |
| 8. Save your op mode and verify that it was saved successfully to the Robot Controller.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep8ControlHub.jpg" width="500"></p> | | 8. Save your op mode and verify that it was saved successfully to the Robot Controller.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep8ControlHub.jpg]]</p> |
| 9. Follow the procedure outlined in the section titled [Running Your Op Mode](https://github.com/ftctechnh/ftc_app/wiki/Running-Your-Op-Mode) to run your updated op mode.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/DistanceSensorStep9ControlHub.jpg" width="350"></p>As you run the op mode, if you move your hand above the color light sensor, you should see the measured distance change on the Driver Station screen. If the expression “NaN” (not a number) is displayed on the Driver Station, the target is most likely out of range (and the sensor does not detect any reflected light). | | 9. Follow the procedure outlined in the section titled [Running Your Op Mode](https://github.com/ftctechnh/ftc_app/wiki/Running-Your-Op-Mode) to run your updated op mode.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/DistanceSensorStep9ControlHub.jpg]]</p>As you run the op mode, if you move your hand above the color light sensor, you should see the measured distance change on the Driver Station screen. If the expression “NaN” (not a number) is displayed on the Driver Station, the target is most likely out of range (and the sensor does not detect any reflected light). |
### Touch Sensor ### Touch Sensor
For this example, we assume that the REV Robotics Touch Sensor has been configured as a digital touch sensor in the Robot Controller's active configuration file. We will use the "isPressed" programming block to determine if the button on the sensor is currently pressed or not. For this example, we assume that the REV Robotics Touch Sensor has been configured as a digital touch sensor in the Robot Controller's active configuration file. We will use the "isPressed" programming block to determine if the button on the sensor is currently pressed or not.
<p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/REVTouchSensor.jpg" width="190"><p> <p align="center">[[/images/Using-Sensors-(Blocks)/REVTouchSensor.jpg]]<p>
The Expansion Hub digital ports contain two digital pins per port. When you use a 4-wire JST cable to connect a REV Robotics Touch sensor to an Expansion Hub digital port, the Touch Sensor is wired to the second of the two digital pins within the port. The first digital pin of the 4-wire cable remains disconnected. The Expansion Hub digital ports contain two digital pins per port. When you use a 4-wire JST cable to connect a REV Robotics Touch sensor to an Expansion Hub digital port, the Touch Sensor is wired to the second of the two digital pins within the port. The first digital pin of the 4-wire cable remains disconnected.
@ -32,14 +32,14 @@ Note that it will take an estimated 15 minutes to complete this task.
| Modifying the Op Mode to Display Button (Touch Sensor) State| | Modifying the Op Mode to Display Button (Touch Sensor) State|
| ---- | | ---- |
| 1. Verify that your laptop is still connected to the Robot Controller’s Programming Mode Wi-Fi network. | | 1. Verify that your laptop is still connected to the Robot Controller’s Programming Mode Wi-Fi network. |
| 2. Verify that “MyFIRSTOpMode” is opened for editing. If it is not, you can click on the FIRST logo in the upper left hand corner of the browser window on the laptop. This should take you to the main FTC Blocks Development Tool project screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep2ControlHub.jpg" width="400"></p>Click on the “MyFIRSTOpMode” project to open it for editing if it is not already opened. | | 2. Verify that “MyFIRSTOpMode” is opened for editing. If it is not, you can click on the FIRST logo in the upper left hand corner of the browser window on the laptop. This should take you to the main FTC Blocks Development Tool project screen.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep2ControlHub.jpg]]</p>Click on the “MyFIRSTOpMode” project to open it for editing if it is not already opened. |
| 3. Click on the “Logic” category. Find and click on the “if do else” block.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep3ControlHub.jpg" width="175"></p> | | 3. Click on the “Logic” category. Find and click on the “if do else” block.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep3ControlHub.jpg]]</p> |
| 4. Drag the “if do else” block to the position before the “telemetry.update” block.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep4ControlHub.jpg" width="400"></p> | | 4. Drag the “if do else” block to the position before the “telemetry.update” block.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep4ControlHub.jpg]]</p> |
| 5. Click on the "Sensors" category to expand it (if it isn't already expanded). Click on the "Touch Sensor" subcategory, then find and select the ".isPressed" block.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep5ControlHub.jpg" width="400"></p> | | 5. Click on the "Sensors" category to expand it (if it isn't already expanded). Click on the "Touch Sensor" subcategory, then find and select the ".isPressed" block.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep5ControlHub.jpg]]</p> |
| 6. Drag the “isPressed” block to the test condition of the “if do else” programming block.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep6ControlHub.jpg" width="400"></p> | | 6. Drag the “isPressed” block to the test condition of the “if do else” programming block.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep6ControlHub.jpg]]</p> |
| 7. Click on the “Utilities” category on the left-hand side of your browser. Find and click on the “Telemetry” subcategory.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep7ControlHub.jpg" width="400"></p>Select the “call telemetry.addData” block (the text version) and drag it to the “do” clause of the “if do else” block. | | 7. Click on the “Utilities” category on the left-hand side of your browser. Find and click on the “Telemetry” subcategory.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep7ControlHub.jpg]]</p>Select the “call telemetry.addData” block (the text version) and drag it to the “do” clause of the “if do else” block. |
| 8. Change the “key” value to “testTouch” and the “text” value to “is pressed”.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep8ControlHub.jpg" width="400"></p> | | 8. Change the “key” value to “testTouch” and the “text” value to “is pressed”.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep8ControlHub.jpg]]</p> |
| 9. Insert another "telemetry.addData" block (the text version) to the "else" clause of the "if do else" block. Change the “key” value to “testTouch” and the “text” value to “is NOT pressed”.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep9ControlHub.jpg" width="400"></p> | | 9. Insert another "telemetry.addData" block (the text version) to the "else" clause of the "if do else" block. Change the “key” value to “testTouch” and the “text” value to “is NOT pressed”.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep9ControlHub.jpg]]</p> |
| 10. Save your op mode and verify that it was saved successfully to the Robot Controller.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep10ControlHub.jpg" width="400"></p> | | 10. Save your op mode and verify that it was saved successfully to the Robot Controller.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep10ControlHub.jpg]]</p> |
| 11. Follow the procedure outlined in the section titled [Running Your Op Mode](https://github.com/ftctechnh/ftc_app/wiki/Running-Your-Op-Mode) to run your updated op mode.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/TouchSensorOpModeStep11ControlHub.jpg" width="350"></p>As you run the op mode and push or release the button, the telemetry message on the Driver Station should update to reflect the current state of the digital Touch Sensor. | | 11. Follow the procedure outlined in the section titled [Running Your Op Mode](https://github.com/ftctechnh/ftc_app/wiki/Running-Your-Op-Mode) to run your updated op mode.<br/><br/><p align="center">[[/images/Using-Sensors-(Blocks)/TouchSensorOpModeStep11ControlHub.jpg]]</p>As you run the op mode and push or release the button, the telemetry message on the Driver Station should update to reflect the current state of the digital Touch Sensor. |