robocadSim

Welcome to the robocadSim documentation page. Here you will find lots of information about how to program robocadSim’ virtual robots.

Getting started

Where to begin?

First you need to download robocadSim and run it. Latest version.

I hope you have already chosen the language with which you will program your robot and the IDE for it.

You can read how to start using libraries for the selected language here.

Write a program, turn on the robot and run the code!

Robot documentation

Here You can choose the robot you are programming. Read the documentation about all functions in the selected language and see some helpful examples. Good luck!

RE21

Some info here

RE21mini

Everything about RE21mini

Functions for RE21mini

Motor Control

Use motor control variables to set speeds to motors.

Location and name:

RobocadSim.RE21mini.right_motor_speed
RobocadSim.RE21mini.left_motor_speed
RobocadSim.RE21mini.back_motor_speed

Set:

float speed to right motor
float speed to left motor
float speed to back motor

Get:

---

Example:

from robocadSimPy import RobocadSim


robot = RobocadSim.RE21mini()
robot.connect()
robot.right_motor_speed = 10
robot.left_motor_speed = -10
robot.back_motor_speed = 0
robot.disconnect()

Additional info:

Range of speed is from -50 to 50

Location and name:

RobocadSim.RE21mini.rightMotorSpeed
RobocadSim.RE21mini.leftMotorSpeed
RobocadSim.RE21mini.backMotorSpeed

Set:

float speed to right motor
float speed to left motor
float speed to back motor

Get:

---

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            RE21mini robot = new RE21mini();
            robot.Connect();
            robot.rightMotorSpeed = 10;
            robot.leftMotorSpeed = -10;
            robot.backMotorSpeed = 0;
            robot.Disconnect();
        }
    }
}

Additional info:

Range of speed is from -50 to 50

OMS Control

Use OMS control variables to set speeds, angles and directions to motors and servo motors.

Location and name:

RobocadSim.RE21mini.lift_motor_speed
RobocadSim.RE21mini.angle_to_big
RobocadSim.RE21mini.dir_to_plates

Set:

float speed to lift motor
float angle to big servo
float direction to small servo

Get:

---

Example:

from robocadSimPy import RobocadSim


robot = RobocadSim.RE21mini()
robot.connect()
robot.lift_motor_speed = 10
robot.angle_to_big = 1600
robot.dir_to_plates = 1400
robot.disconnect()

Additional info:

Range of speed is from -50 to 50
Range of angles for big servo motor is from 1490 to 1750
Range of values for small servo motor is from 1400 to 1600

Location and name:

RobocadSim.RE21mini.liftMotorSpeed
RobocadSim.RE21mini.angleToBig
RobocadSim.RE21mini.dirToPlates

Set:

float speed to lift motor
float angle to big servo
float direction to small servo

Get:

---

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            RE21mini robot = new RE21mini();
            robot.Connect();
            robot.liftMotorSpeed = 10;
            robot.angleToBig = 1600;
            robot.dirToPlates = 1400;
            robot.Disconnect();
        }
    }
}

Additional info:

Range of speed is from -50 to 50
Range of angles for big servo motor is from 1490 to 1750
Range of values for small servo motor is from 1400 to 1600

Reset Control

Use reset control variables to reset to motors’ encoders.

Location and name:

RobocadSim.RE21mini.reset_right_motor_enc
RobocadSim.RE21mini.reset_left_motor_enc
RobocadSim.RE21mini.reset_back_motor_enc
RobocadSim.RE21mini.reset_lift_motor_enc
RobocadSim.RE21mini.reset_gyro

Set:

bool reset right motor encoder
bool reset left motor encoder
bool reset back motor encoder
bool reset lift motor encoder
bool reset gyroscope

Get:

---

Example:

from robocadSimPy import RobocadSim


robot = RobocadSim.RE21mini()
robot.connect()
robot.reset_right_motor_enc = True
robot.reset_left_motor_enc = True
robot.reset_back_motor_enc = True
robot.reset_lift_motor_enc = True
robot.reset_gyro = False
robot.disconnect()

Additional info:

You should write Your own gyro reset (cause my doesn’t work well :) )

Location and name:

RobocadSim.RE21mini.resetRightMotorEnc
RobocadSim.RE21mini.resetLeftMotorEnc
RobocadSim.RE21mini.resetBackMotorEnc
RobocadSim.RE21mini.resetLiftMotorEnc
RobocadSim.RE21mini.resetGyro

Set:

bool reset right motor encoder
bool reset left motor encoder
bool reset back motor encoder
bool reset lift motor encoder
bool reset gyroscope

Get:

---

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            RE21mini robot = new RE21mini();
            robot.Connect();
            robot.resetRightMotorEnc = true;
            robot.resetLeftMotorEnc = true;
            robot.resetBackMotorEnc = true;
            robot.resetLiftMotorEnc = true;
            robot.resetGyro = false;
            robot.Disconnect();
        }
    }
}

Additional info:

You should write Your own gyro reset (cause my doesn’t work well :) )

Encoder Indicator

Use encoder indicator variables to get motors’ encoders’ values.

Location and name:

RobocadSim.RE21mini.right_motor_enc
RobocadSim.RE21mini.left_motor_enc
RobocadSim.RE21mini.back_motor_enc
RobocadSim.RE21mini.lift_motor_enc

Set:

---

Get:

float right motor’ encoder’ value
float right motor’ encoder’ value
float right motor’ encoder’ value
float right motor’ encoder’ value

Example:

from robocadSimPy import RobocadSim


robot = RobocadSim.RE21mini()
robot.connect()
encoders = [0] * 4
encoders[0] = robot.right_motor_enc
encoders[1] = robot.left_motor_enc
encoders[2] = robot.back_motor_enc
encoders[3] = robot.lift_motor_enc
robot.disconnect()

Additional info:

You should use Transfunction with encoders for a more convenient representation of values

Location and name:

RobocadSim.RE21mini.rightMotorEnc
RobocadSim.RE21mini.leftMotorEnc
RobocadSim.RE21mini.backMotorEnc
RobocadSim.RE21mini.liftMotorEnc

Set:

---

Get:

float right motor’ encoder’ value
float right motor’ encoder’ value
float right motor’ encoder’ value
float right motor’ encoder’ value

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            RE21mini robot = new RE21mini();
            robot.Connect();
            float[] encoders = new float[4];
            encoders[0] = robot.rightMotorEnc;
            encoders[1] = robot.leftMotorEnc;
            encoders[2] = robot.backMotorEnc;
            encoders[3] = robot.liftMotorEnc;
            robot.Disconnect();
        }
    }
}

Additional info:

You should use Transfunction with encoders for a more convenient representation of values

Button Indicator

Use button indicator variables to get buttons states.

Location and name:

RobocadSim.RE21mini.button_ems
RobocadSim.RE21mini.button_start
RobocadSim.RE21mini.button_limit

Set:

---

Get:

bool EMS button state
bool Start button state
bool Limit button state

Example:

from robocadSimPy import RobocadSim


robot = RobocadSim.RE21mini()
robot.connect()
buttons = [0] * 3
buttons[0] = robot.button_ems
buttons[1] = robot.button_start
buttons[2] = robot.button_limit
robot.disconnect()

Additional info:

---

Location and name:

RobocadSim.RE21mini.buttonEMS
RobocadSim.RE21mini.buttonStart
RobocadSim.RE21mini.buttonLimit

Set:

---

Get:

bool EMS button state
bool Start button state
bool Limit button state

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            RE21mini robot = new RE21mini();
            robot.Connect();
            bool[] buttons = new bool[3];
            buttons[0] = robot.buttonEMS;
            buttons[1] = robot.buttonStart;
            buttons[2] = robot.buttonLimit;
            robot.Disconnect();
        }
    }
}

Additional info:

---

Sensor Indicator

Use sensor indicator variables to get sensors values.

Location and name:

RobocadSim.RE21mini.right_us
RobocadSim.RE21mini.left_us
RobocadSim.RE21mini.right_ir
RobocadSim.RE21mini.left_ir
RobocadSim.RE21mini.gyro

Set:

---

Get:

float right ultrasonic sensor value
float left ultrasonic sensor value
float right infrared sensor value
float left infrared sensor value
float gyro value

Example:

from robocadSimPy import RobocadSim


robot = RobocadSim.RE21mini()
robot.connect()
sensors = [0] * 5
sensors[0] = robot.right_us
sensors[1] = robot.left_us
sensors[2] = robot.right_ir
sensors[3] = robot.left_ir
sensors[4] = robot.gyro
robot.disconnect()

Additional info:

---

Location and name:

RobocadSim.RE21mini.rightUS
RobocadSim.RE21mini.leftUS
RobocadSim.RE21mini.rightIR
RobocadSim.RE21mini.leftIR
RobocadSim.RE21mini.gyro

Set:

---

Get:

float right ultrasonic sensor value
float left ultrasonic sensor value
float right infrared sensor value
float left infrared sensor value
float gyro value

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            RE21mini robot = new RE21mini();
            robot.Connect();
            float[] sensors = new float[5];
            sensors[0] = robot.rightUS;
            sensors[1] = robot.leftUS;
            sensors[2] = robot.rightIR;
            sensors[3] = robot.leftIR;
            sensors[4] = robot.gyro;
            robot.Disconnect();
        }
    }
}

Additional info:

---

Field documentation

Here You can choose a field and read some info about it.

Field E21

Here You can read some info about E21 field.

Traffic lights on E21 field

There are 2 traffic lights on the field and they can burn with such colors:

Red color
Yellow color
Green color

Red:

If a red light is on at a traffic light, robot should stop in front of it or in front of a black line. And continue movement when a green light is on at a traffic light:

Yellow:

If a yellow light is on at a traffic light, robot should stop in front of it or in front of a black line. And continue movement when a green light is on at a traffic light. But if robot already crossed the line when the yellow light came on, it can complete movement:

Green:

If a green light is on at a traffic light, robot can continue its movement:

Signs on E21 field

There are 4 signs on the field and they may be:

Turn Left sign
Turn Right sign
Move Forward sign
Stop sign

Turn Left:

For example, if You have Turn Left sign at the start (green rect) You should move like that:

or like that:

and check next sign (red rect) if You need it.

Turn Right:

For example, if there is Turn Right sign at the Distant village (green rect) You should move like that:

or like that:

and check next sign (red rect) if You need it.

Move Forward:

For example, if there is Move Forward sign at the start (green rect) You should move like that:

and check next sign (red rect) if You need it.

Stop:

For example, if there is Stop sign at the start (green rect) You should stop in front of the sign (or line) and wait for 2 seconds. After that You can continue Your movement wherever You want. Example:

All signs:

Here is an example of movement when robot has to go to the Pine village and take containers from there:

Funcad documentation

Here You can find some info about Funcad.

FromAxisToMotors

FromAxisToMotors function is used to remake input axis values into motors values for tricycle robot.

Location and name: Funcad.Funcad.from_axis_to_motors()

Inputs:

float speed to X axis
float speed to Y axis
float speed to Z axis

Output:

numpy.ndarray that includes:

Speed to right motor
Speed to left motor
Speed to back motor

Example:

from robocadSimPy import Funcad


funcad = Funcad.Funcad()
out = funcad.from_axis_to_motors(5, -5, 3)  # [ 2.273672 -9.273672  4.      ]

Additional info:

---

Location and name: “Funcad.h”.Funcad.from_axis_to_motors()

Inputs:

float speed to X axis
float speed to Y axis
float speed to Z axis

Output:

float* that includes:

Speed to right motor
Speed to left motor
Speed to back motor

Example:

#include "Funcad.h"
#include <iostream>

int main()
{
    Funcad funcad;
    float* out = funcad.from_axis_to_motors(5, -5, 3); // 2.2735 -9.2735 4
}

Additional info:

---

Location and name: RobocadSim.Funcad.FromAxisToMotors()

Inputs:

float speed to X axis
float speed to Y axis
float speed to Z axis

Output:

System.Numerics.Vector3 that includes:

Speed to right motor
Speed to left motor
Speed to back motor

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            Funcad funcad = new Funcad();
            Vector3 vec = funcad.FromAxisToMotors(5, -5, 3); // 2,273672  -9,273672  4
        }
    }
}

Additional info:

---

FromMotorsToAxis

FromMotorsToAxis function is used to remake input motors values into axis values for tricycle robot.

Location and name: Funcad.Funcad.from_motors_to_axis()

Inputs:

float speed to right motor
float speed to left motor
float speed to back motor

Output:

numpy.ndarray that includes:

Speed to X axis
Speed to Y axis
Speed to Z axis

Example:

from robocadSimPy import Funcad


funcad = Funcad.Funcad()
out = funcad.from_motors_to_axis(5, -5, 0)  # [8.66 0.   0.  ]

Additional info:

---

Location and name: “Funcad.h”.Funcad.from_motors_to_axis()

Inputs:

float speed to right motor
float speed to left motor
float speed to back motor

Output:

float* that includes:

Speed to X axis
Speed to Y axis
Speed to Z axis

Example:

#include "Funcad.h"
#include <iostream>

int main()
{
    Funcad funcad;
    float* out = funcad.from_motors_to_axis(5, -5, 0); // 8.66 0 0
}

Additional info:

---

Location and name: RobocadSim.Funcad.FromMotorsToAxis()

Inputs:

float speed to right motor
float speed to left motor
float speed to back motor

Output:

System.Numerics.Vector3 that includes:

Speed to X axis
Speed to Y axis
Speed to Z axis

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            Funcad funcad = new Funcad();
            Vector3 vec = funcad.FromMotorsToAxis(5, -5, 0); // 8.66 0 0
        }
    }
}

Additional info:

---

InRangeBool

InRangeBool function is used to check that input value is in range.

Location and name: Funcad.Funcad.in_range_bool()

Inputs:

float input value
float lower threshold
float upper threshold

Output:

bool is in range

Example:

from robocadSimPy import Funcad


funcad = Funcad.Funcad()
out = funcad.in_range_bool(5, 0, 12)  # True

Additional info:

---

Location and name: “Funcad.h”.Funcad.in_range_bool()

Inputs:

float input value
float lower threshold
float upper threshold

Output:

bool is in range

Example:

#include "Funcad.h"
#include <iostream>

int main()
{
    Funcad funcad;
    bool out = funcad.in_range_bool(5, 0, 12); // true
}

Additional info:

---

Location and name: RobocadSim.Funcad.InRangeBool()

Inputs:

float input value
float lower threshold
float upper threshold

Output:

bool is in range

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            Funcad funcad = new Funcad();
            bool output = funcad.InRangeBool(5, 0, 12); // true
        }
    }
}

Additional info:

---

TransfunctionCoda

TransfunctionCoda function is used to rearrange input value. Created by subsystems developer Coda.

Location and name: Funcad.Funcad.transfunc_coda()

Inputs:

float value to remake
list input array
list output array

Output:

float remaded input

Example:

from robocadSimPy import Funcad


funcad = Funcad.Funcad()
out = funcad.transfunc_coda(5, [2, 10], [20, 100])  # out will be 50

Additional info:

---

Location and name: “Funcad.h”.Funcad.transfunc_coda()

Inputs:

float value to remake
float* input array
float* output array
int size of input or output array

Output:

float remaded input

Example:

#include "Funcad.h"
#include <iostream>

int main()
{
    Funcad funcad;
    float in_arr[] = { 2, 10 };
    float out_arr[] = { 20, 100 };
    float out = funcad.transfunc_coda(5, in_arr, out_arr, 2); // out will be 50
}

Additional info:

---

Location and name: RobocadSim.Funcad.TransfunctionCoda()

Inputs:

float value to remake
List<float> input array
List<float> output array

Output:

float remaded input

Example:

using System;
using RobocadSim;

namespace TestLib
{
    class Program
    {
        static void Main(string[] args)
        {
            Funcad funcad = new Funcad();
            float[] inArr = { 2, 10 };
            List<float> inList = new List<float>(inArr);
            float[] outArr = { 20, 100 };
            List<float> outList = new List<float>(outArr);
            float outVal = funcad.TransfunctionCoda(5, inList, outList); // out will be 50
        }
    }
}

Additional info:

---

Libraries documentation

Here You can choose the favourite programming language and read about how to install the library into Your project.

Python library

Here is some info about how to download robocadSim Python library. I am going to use PyCharm 2020.

First way:

Open Your project in PyChram -> click on File -> Settings

Click on Project: Python -> Project Interpreter -> Install (Plus button)

Write robocadSimPy in Search Line -> select robocadSimPy -> click Install Package

Now You can use robocadSim Python library in Your project!

Second way:

Win + R -> write cmd here -> press Enter

Write here pip install robocadSimPy or pip3 install robocadSimPy -> press Enter

Now You can use robocadSim Python library in Your project!

C# library

Here is some info about how to use robocadSim C# library in your project. I am going to use Visual Studio 2019.

You need emgu-cv installed in your project if You use robocadSim version < v1.3.7. (How to install example).

First way:

Right click on Your project name in Solution explorer -> click on Manage NuGet Packages

Click on Browse -> write there robocadSim and click Enter -> choose robocadSimCS created by crackanddie or Abdrakov corp. and click on install button

Second way:

Click on Your project name in Solution explorer -> right click on Dependencies -> Add reference…

Click on Browse…

Select RobocadSim.dll in ./Lib/cs/ and click Add

Now You can use robocadSim C# library in Your project!

C++ library

Here is some info about how to use robocadSim C++ library in your project. I am going to use Visual Studio 2019.

You need open-cv installed in your project. (How to install example).
Right click on Your project name in Solution explorer -> Properties

Click on Configuration Properties -> C/C++ -> General -> Additional Include Directories -> Edit

Create a new line and paste here path to C++ header files (./robocadSim/Lib/cpp/robocadSimLibCpp) -> click OK

Go to Linker -> General -> Additional Library Directories -> Edit

Create new line and paste here path to .lib file (./robocadSim/Lib/cpp/x64/Release) -> click OK

Go to Linker -> Input -> Additional dependencies -> Edit

Paste here robocadSimLibCpp.lib line -> click OK

Now You can use robocadSim C++ library in Your project!

If You can’t use some header files:

Copy .dll file in robocadSim release folder (./robocadSim/Lib/cpp/x64/Release)
Paste it to the path: path_to_your_project/your_project_name/your_project_name/

robocadSim documentation

Here You can find some info about robocadSim program.

Hot Keys and Keys

Keys:

Esc: open “pause” menu

Hot Keys:

LeftCtrl + E: open power panel
LeftCtrl + D: open control panel

Need Help

If You need for help please contact me or open an issue on GitHub:

Inst: robocadSim
Email: robocadsim@gmail.com
Facebook: RobocadSim

License

MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

robocadSim

Getting started

Robot documentation

RE21

RE21mini

Functions for RE21mini

Motor Control

OMS Control

Reset Control

Encoder Indicator

Button Indicator

Sensor Indicator

Field documentation

Field E21

Traffic lights on E21 field

Red:

Yellow:

Green:

Signs on E21 field

Turn Left:

Turn Right:

Move Forward:

Stop:

All signs:

Funcad documentation

FromAxisToMotors

FromMotorsToAxis

InRangeBool

TransfunctionCoda

Libraries documentation

Python library

First way:

Second way:

C# library

First way:

Second way:

C++ library

If You can’t use some header files:

robocadSim documentation

Hot Keys and Keys

Keys:

Hot Keys:

Be our sponsor

Need Help

License