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RTTMbot Cheat Sheet (DRAFT) by

This is a draft cheat sheet. It is a work in progress and is not finished yet.

Control structures

if(condition)
{
// if condition is TRUE, do something here
}
else
{
// otherwise, do this*
}

while (condition)
{
// while condition is true, do this
}

break; // break a loop
continue; // continue to next iteration

switch (variable) 
{
case 1:
    // if case == variable, do this
    break;
case 2:
    // if case == variable, do this
    break;
}

for(initialization; condition; increment)
{
// do this
}
/* The ‘for’ statement is used to repeat
a block of statements enclosed in curly
braces. An increment counter is usually
used to increment and terminate the loop.
/*
 

RTT Import

To give access to functions to control the MBot, import the RTT library.

#include "­rtt­imp­ort.h"


The following functions are available after including the RTT library.

drive(int speed);

// drive forward with speed speed, which may range from 1-100

leftWh­eel(int speed);

// move left wheel with speed speed

rightW­hee­l(int speed);

// move right wheel with speed speed

stopDr­ive();

// stop moving


lineSe­nso­r.r­ead­Sen­sors()

/* read both sensors

returns 0x00 if both left and right sensors are over a black line

 returns 0x01 if left sensor is over a black line but the right sensor is not

 returns 0x02 if left sensor is not over a black line but the right sensor is

 returns 0x03 if neither left sensor nor the right sensor is over a black line */


lineSe­nso­r.r­ead­Sen­sor­Left()

// read state of left sensor

// returns 0 if over black line, returns 1 if not over black line


lineSe­nso­r.r­ead­Sen­sor­Right()

// read state of right sensor

// returns 0 if over black line, returns 1 if not over black line
 

Operators

Mathematical Operators
= // assignment
+ // addition
- // subtraction
 // multiplication*
/ // division
% // modulus
Logical Operators
== // boolean equal to
!= // not equal to
< // less than
> // greater than
<= // less than or equal to
>= // greater than or equal to
&& // Boolean AND
|| // Boolean OR
! // Boolean NOT

Time

delay(time_ms);
/ Pauses the program for the amount of time*
(in milliseconds). */
delayMicroseconds(time_us);
/ Pauses the program for the amount of time*
(in microseconds). */
millis();
/ Returns the number of milliseconds since*
the board began running the current program.
max: 4,294,967,295 */
micros();
/ Returns the number of microseconds since*
the board began running the current program.
max: 4,294,967,295 */