Vex CORTEX Instrukcja Obsługi Strona 73
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Reference
Project Lead The Way
©
and Carnegie Mellon Robotics Academy
©
/ For use with VEX
®
Robotics Systems
Pseudo Code & Flow Charts• 2
Pseudocode & Flow Charts
Flow Charts are a visual representation of program ow. A ow chart normally uses a
combination of blocks and arrows to represent actions and sequence. Blocks typically
represent actions. The order in which actions occur is shown using arrows that point from
statement to statement. Sometimes a block will have multiple arrows coming out of it,
representing a step where a decision must be made about which path to follow.
Decision
Action
Start and End symbols are represented as rounded rectangles,
usually containing the word “Start” or “End”, but can be more
specic such as “Power Robot Off” or “Stop All Motors”.
Actions are represented as rectangles and act as basic
commands. Examples: “wait 1 second”; “increment LineCount
by 1”; or “motors full ahead”.
Decision blocks are represented as diamonds. These typically
contain Yes/No questions. Decision blocks have two or
more arrows coming out of them, representing the different
paths that can be followed, depending on the outcome of the
decision. The arrows should always be labeled accordingly.
To the right is the ow chart of a program
which instructs a robot to run the right motor
forward as long as its touch sensor is not
pressed. When the touch sensor is pressed
the motor stops and the program ends.
To read the ow chart:
• Start at the “Start” block, and follow its
arrow down to the “Decision” block.
• The decision block checks the status of
the touch sensor against two possible
outcomes: the touch sensor is either
pressed or not pressed.
• If the touch sensor is not pressed, the
program follows the “No” arrow to the
action block on the right, which tells the
right motor to run forward. The arrow
leading out of that block points back
up and around, and ends back at the
Decision block. This forms a loop!
• The loop may end up repeating many
times, as long as the Touch Sensor
remains unpressed.
• If the touch sensor is pressed, the
program follows the “Yes” arrow and
stops the motors, then ends the program.
Start
Is the Touch
Sensor
pressed?
End
Run the Right
Motor
Stop
Motor
No
Start/Stop
Go to Reference Links
- Robotics 1
- Reference 1
- Robotics Reference Guide 2
- Go to Reference Links 10
- Cortex Pin Guide 19
- Using the PLTW Template 25
- Sample Programs 27
- Running a Program 28
- Sense Plan Act (SPA) 41
- Boolean Logic 42
- Variables 45
- Reserved Words 48
- Behaviors 64
- Advanced Functions 67
- Switch Case 69
- Random Numbers 71
- Pseudocode & Flow Charts 72
- Program Design 74
- ROBOTC Debugger Overview 83
- ROBOTC Debugger Debug Window 84
- The ROBOTC Debugger Timers 86
- The ROBOTC Debugger Motors 87
- The ROBOTC Debugger Sensors 88
- with Natural Language 91
- Error Messages in ROBOTC Code 93
- 2” x 2 Screw 6-32 x 109
- Servo Motors Overview 112
- Servo Motors Sample Code 113
- Flashlight 115
- Shaft Encoders Overview 126
- Shaft Encoders ROBOTC Setup 128
- Optical Shaft Encoder Kit 129
- Potentiometers Overview 133
- Potentiometers ROBOTC Setup 134
- Potentiometers Sample Code 135
- Potentiometer Kit 136
- Glossary 145
- Glossary continued 146
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