Cortex VEXnet User Manual Download

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Cortex Microcontroller and VEXnet Joystick User Guide

Page 7 of 14

a. The Cortex may be reprogrammed with user-created code. The hardware setup for wireless downloading is shown

below. For non-wireless downloading, the VEXnet keys may be substituted with a USB A-A cable. You can also
download code directly to the Cortex using the USB A-A cable.

Arcade Mode - Channel 1 (right stick, X-axis) + Channel 2 (right stick, Y-axis)

Channel 1 (right stick, X-axis)

Motor 1

LEFT DRIVE

Joystick Right = Motor CW

Robot Turn Rate

Motor 2

LEFT DRIVE

Joystick Right = Motor CW

Motor 3

LEFT DRIVE

Joystick Right = Motor CW

Motor 4

RIGHT DRIVE

Joystick Right = Motor CW

Motor 5

RIGHT DRIVE

Joystick Right = Motor CW

Motor 10

RIGHT DRIVE

Joystick Right = Motor CW

Channel 2 (right stick, Y-axis)

Motor 1

LEFT DRIVE

Joystick Up = Motor CW

Robot Forward Speed

Motor 2

LEFT DRIVE

Joystick Up = Motor CW

Motor 3

LEFT DRIVE

Joystick Up = Motor CW

Motor 4

RIGHT DRIVE

Joystick Up = Motor CCW

Motor 5

RIGHT DRIVE

Joystick Up = Motor CCW

Motor 10

RIGHT DRIVE

Joystick Up = Motor CCW

Reverse Motor Direction

Reverse Motor 1

Jumper in Digital 1

Reverse Motor 2

Jumper in Digital 2

Reverse Motor 3

Jumper in Digital 3

Reverse Motor 4

Jumper in Digital 4

Reverse Motor 5

Jumper in Digital 5

Reverse Motor 6

Jumper in Digital 6

Reverse Motor 7

Jumper in Digital 7

Reverse Motor 8

Jumper in Digital 8

Reverse Motor 9

Jumper in Digital 9

Reverse Motor 10

Jumper in Digital 10

Limit Switch Inputs

Motor 6 ignores CCW

Jumper in Analog 1

Motor 6 ignores CW

Jumper in Analog 2

Motor 7 ignores CCW

Jumper in Analog 3

Motor 7 ignores CW

Jumper in Analog 4

Motor 8 ignores CCW

Jumper in Analog 5

Motor 8 ignores CW

Jumper in Analog 6

Motor 9 ignores CCW

Jumper in Analog 7

Motor 9 ignores CW

Jumper in Analog 8

276-2186

Programming Cable

Program

Port

Cortex

Microcontroller

Cortex

Microcontroller

VEXnet

Joystick

USB Port

Summary of Contents for VEXnet

Page 1: ...to the Joystick thus mating the two units together 0114 b Start with the Cortex and Joystick turned OFF c Connect the Cortex to the Joystick using a USB A A Cable d Connect the 7 2V Robot Battery to the Cortex e Power up only the Cortex f A successful tether is indicated by a Solid Green VEXnet LED on both the Joystick and the Cortex See Figure Below The Solid Green VEXnet LED must remain ON both ...

Page 2: ...six identical batteries as shown Use Alkaline Ni Cad or Ni MH type batteries but DO NOT mix different kinds of batteries Charge rechargeable batteries only with a quality charger designed for your battery type c Reinstall the battery cover insert the two tabs of the battery cover first along the back edge of the battery cover to aid in installation and then tighten the cover screw Then add the VEX...

Page 3: ... 1710 Simply plug this cable into your Joystick s PROGRAM FACTORY port and you can operate your Joystick without the use of batteries Please note when using the Joystick Power Adapter it is not necessary to turn your Joystick ON Also the JOYSTICK POWER LED can be ignored e Turn on the Cortex and Joystick by setting the power switches to ON as shown in the two pictures below ...

Page 4: ...ils on the Default Code refer to Section 4 Please note The default code for the Cortex Microcontroller varies from that of the PIC Microcontroller Please review and follow the tables in this document to ensure your robot behaves in the manner you wish a Add motors and test The following picture shows two VEX 3 Wire Motors plugged into Motor Port 2 and Motor Port 5 With the Default Code pushing Joy...

Page 5: ...stick should have a VEXnet Key installed When using the Default Code you will need to install a jumper into Digital Port 11 in order to activate two Joystick operation d Limit Switch Inputs The Default Code allows jumpers or switches to be installed in the Analog Ports to limit certain motor directions These are useful for stopping a motor when an arm bottoms out A limit switch plugged in to Analo...

Page 6: ... Motor response These motor directions will make a Protobot robot go forward when the joysticks are pushed up Note the Jumper variations for each section Please note The default code for the Cortex microcontroller varies from that of the PIC microcontroller Please review and follow the tables in this document to ensure your robot behaves in the manner you wish ...

Page 7: ...EFT DRIVE Joystick Up Motor CW Robot Forward Speed Motor 2 LEFT DRIVE Joystick Up Motor CW Motor 3 LEFT DRIVE Joystick Up Motor CW Motor 4 RIGHT DRIVE Joystick Up Motor CCW Motor 5 RIGHT DRIVE Joystick Up Motor CCW Motor 10 RIGHT DRIVE Joystick Up Motor CCW Reverse Motor Direction Reverse Motor 1 Jumper in Digital 1 Reverse Motor 2 Jumper in Digital 2 Reverse Motor 3 Jumper in Digital 3 Reverse Mo...

Page 8: ... Fast red 3 Fault Low Backup Battery 0v 8v Slow red Fault User Microprocessor Issue Note 1 Robot LED only work when Linked Note 2 Lowest CORTEX battery color latched at Joystick and CORTEX Note 3 No Backup Battery only indicated if competition cable is connected Joystick 5 Robot VEXnet Game Off No Competition connection Solid green Driver 4 Fast green Autonomous Fast yellow Disabled Note 4 Game LE...

Page 9: ... will be discontinued and the VEXnet LED will briefly flash red The Joystick LED will continue to flash red and green during the calibration process f After movement is detected in all 4 directions the Joystick LED will be ON and solid green To save the calibration depress and release the 8U top button If the calibration is accepted and saved the Joystick LED will start flashing fast green for a f...

Page 10: ...correctly linked refer to the VEXnet Troubleshooting Flowchart in Section 8 Robot battery is dead Charge or replace batteries before continuing Fast Single Double Slow YES YES NO NO NO NO NO NO NO NO NO YES YES YES YES YES YES YES Update the VEXnet Firmware Master CPU Firmware for ROBOTC users on both the Cortex and the Joystick using the Firmware Upgrade Utility included with your programming sof...

Page 11: ...its may be out of range Consider moving key to a better location or consider moving the Cortex closer to the Joystick Poor signal strength Lost VEXnet link No VEXnet key detected Check key connection and replace key if necessary Powercycle unit when finished Units are correctly linked If the problem persists check user code or try using the Default Code which is available from within your programm...

Page 12: ...ort by phone at 1 903 453 0802 or email support vexrobotics com This could be a programming issue Try switching to the Default Code to isolate the problem If a motor still looses necessary power it is likely that the motor s internal thermal breaker is tripping This is almost always attributed to the motor being stalled or placed under too high of a load First check your drivetrain or mechanism fo...

Page 13: ... weak pull up When configured as an output digital lines drive 0 volts for a low and 3 3 volts for a high Circuit details are as follows a Digital input range is 0 to 5 volts b Digital drive is primarily limited by the 1k series resistor so it can output a 2v high into 2k ohms to ground or a 0 8v low into 7k ohms to 3 3v c Digital inputs also have a 1000 pF capacitor to ground on the processor sid...

Page 14: ...is 1 to 2 milliseconds high time and a 17 millisecond period d Overcurrent protection Motor Port 1 through Motor Port 5 shares one 4 amp circuit breaker Motor Port 6 through Motor Port 10 shares a second 4 amp circuit breaker 15 UART Connections a Ground Power 5v RX data in TX data out Data rate byte width transmit stop bits parity etc are determined by the compiler b Default for LCD data 19 200 b...

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