MCH 1003

Introduction to Mechatronics
Fall 2024
Programming - Quick Start
 Programming
1. Programming basics
• Style, data types, variables, constants
2. Primitives
• Counters, looping, branching, nesting
3. Side info
• Operations, numbering systems, RGB codes
4. Intermediate
• Functions, I/O, packages, pointers, debugging
5. Algorithms
• Flags, Recursion, swap & sort
 Programming - basics
1. Programming style
• Indentation, Commenting, End-of-command operators
• Whitespace & parentheses
2. Data types
• Numbers (integer, float, double, etc.)
• Booleans
• Characters
• Arrays, Strings & Matrices
• Structures
• Casting
3. Variable definitions and constants
 Programming - basics
1.Programming style
• Indentation, Commenting, End-of-command operators
• Whitespace & parentheses
2. Data types
• Numbers (integer, float, double, etc.)
• Booleans
• Characters
• Arrays, Strings & Matrices
• Structures
• Casting
3. Variable definitions and constants
Programming - programming style
• Indentation
• Commenting
• End-of-command operators
• Whitespace & parentheses
 Programming - indentation

Bad example:

Good example:
Programming - programming style
• Indentation
• Commenting
• End-of-command operators
• Whitespace & parentheses
 Programming - commenting
• So that someone else can understand your
code
• Particularly if you did something “clever”
• Do NOT comment every line
• Makes the code less readable
• Only comment where necessary
Programming - programming style
• Indentation
• Commenting
• End-of-command operators
• Whitespace & parentheses
Programming - end-of-line
Programming - programming style
• Indentation
• Commenting
• End-of-command operators
• Whitespace & parentheses
Programming - whitespace & ()
 Programming - basics
1. Programming style
• Indentation, Commenting, End-of-command operators
• Whitespace & parentheses
2.Data types
• Numbers (integer, float, double, etc.)
• Booleans
• Characters
• Arrays, Strings & Matrices
• Structures
• Casting
3. Variable definitions and constants
 Programming - data types
• Numbers
• Integer, float, double
• Booleans
• Characters
• Arrays
• Strings
• Matrices
• Structures
• Casting
 Programming - basics
1. Programming style
• Indentation, Commenting, End-of-command operators
• Whitespace & parentheses
2. Data types
• Numbers (integer, float, double, etc.)
• Booleans
• Characters
• Arrays, Strings & Matrices
• Structures
• Casting
3.Variable definitions and constants
 Programming - definitions
• Variables
• Name, type, value, scope, location
• Ex: int class_size = 39;
• Scope: The function it is defined in
(unless made global)
• Location: somewhere in the memory
• Constants
• #define
• const type identifier_name = value;
 Programming
1. Programming basics
• Style, data types, variables, constants
2.Primitives
• Counters, looping, branching, nesting
3. Side info
• Operations, numbering systems, RGB codes
4. Intermediate
• Functions, I/O, packages, pointers, debugging
5. Algorithms
• Flags, Recursion, swap & sort
 Programming - primitives
1. Counters
2. Looping
• For
• While
• Do-while
3. Branching
• If/else
• Switch case
4. Conditions
5. Nesting
 Programming - primitives
1.Counters
2. Looping
• For
• While
• Do-while
3. Branching
• If/else
• Switch case
4. Conditions
5. Nesting
 Programming - counters
for (int i = 0; i<10; i++) {
print(i);
}

int i = 0;
while (i<10) {
print(i);
i++;
}
 Programming - primitives
1. Counters
2.Looping
• For
• While
• Do-while
3. Branching
• If/else
• Switch case
4. Conditions
5. Nesting
 Programming - looping
• For

• While
• Do-while
• do { statements; } while (condition);
• Happens at least once
 Programming - primitives
1. Counters
2. Looping
• For
• While
• Do-while
3.Branching
• If/else
• Switch case
4. Conditions
5. Nesting
 Programming - branching
• If/else

Switch case
 Programming - primitives
1. Counters
2. Looping
• For
• While
• Do-while
3. Branching
• If/else
• Switch case
4.Conditions
5. Nesting
 Programming - conditions
• ==
• !=
•<
•>
• <=
• >=
• &&
• ||
• Parentheses make these legible
 Programming - primitives
1. Counters
2. Looping
• For
• While
• Do-while
3. Branching
• If/else
• Switch case
4. Conditions
5.Nesting
Programming - nesting
 Programming
1. Programming basics
• Style, data types, variables, constants
2. Primitives
• Counters, looping, branching, nesting
3.Side info
• Operations, numbering systems, RGB codes
4. Intermediate
• Functions, I/O, packages, pointers, debugging
5. Algorithms
• Flags, Recursion, swap & sort
 Programming - side info
1. Operations
• Math operators
• Logic operators
• Bitwise operators
• String operators
2. Numbering systems
3. RGB codes
4. ASCII codes
 Programming - side info
1.Operations
• Math operators
• Logic operators
• Bitwise operators
• String operators
2. Numbering systems
3. RGB codes
4. ASCII codes
 Programming - operations
• Math operators
• Logic operators
• Bitwise operators
• String operators
 Programming - math operators
• +,-,*,/
• Power: a = pow(x,y) (a equals x to the power y)
• Modulo: a = x % y (x divide by y leaves a as remainder)
• Precedence
• Use parentheses!
• MD before AS
• Left to Right when equal
• Math libraries (math.h)
• Sin, cos, max, min, etc.
• Be careful about integer vs. floating point math!
 Programming - operations
• Math operators
• Logic operators
• Bitwise operators
• String operators
 Programming - logic operators
• AND: &&
• OR: ||
• NOT: !
 Programming - operations
• Math operators
• Logic operators
• Bitwise operators
• String operators
Programming - bitwise operators
• Just like logic operators - only multiples
• 0101 OR 0011 EQUALS 0111
• 0101 AND 0011 EQUALS 0001
• NOT 0111 EQUALS 1000
• 0101 XOR 0011 EQUALS 0110
• Shifts
• Arithmetic, logical, circular
• R-shift: 0111-0101 —> ?011-1010
• L-shift: 0111-0101 —> 1110-101?
 Programming - operations
• Math operators
• Logic operators
• Bitwise operators
• String operators
 Programming - string operators
• Compare
• Concatenate
• Scan
• Copy
• Get length
 Programming - side info
1. Operations
• Math operators
• Boolean operators
• Bitwise operators
• Logic operators
• String operators
2.Numbering systems
3. RGB codes
4. ASCII codes
Programming - numbering systems
• Binary —> 010110011100111001
• Octal —> 53672334045
• Decimal —> 97465894
• Hexadecimal (Hex) —> 78A98B0F0E7DC

• Illegal bases
 Programming - side info
1. Operations
• Math operators
• Boolean operators
• Bitwise operators
• Logic operators
• String operators
2. Numbering systems
3.RGB codes
4. ASCII codes
 Programming - RGB codes
• Every color has three components:
• Red
• Green
• Blue
• Each component:
• 0-255 (Hex)
• 0 => 00
• 255 => FF
 Programming - side info
1. Operations
• Math operators
• Boolean operators
• Bitwise operators
• Logic operators
• String operators
2. Numbering systems
3. RGB codes
4.ASCII codes
Programming - ASCII codes
 Programming
1. Programming basics
• Style, data types, variables, constants
2. Primitives
• Counters, looping, branching, nesting
3. Side info
• Operations, numbering systems, RGB codes
4.Intermediate
• Functions, I/O, packages, pointers, debugging
5. Algorithms
• Flags, Recursion, swap & sort
 Programming - intermediate
1. Functions
2. File & command line I/O
3. Pre-defined packages
4. Pointers & references
5. Debugging
 Programming - intermediate
1.Functions
2. File & command line I/O
3. Pre-defined packages
4. Pointers & references
5. Debugging
 Programming - functions
• Bits of code separated from main set of commands
• Why?
• Sub-stepping (breaking into pieces)
• Using same code over and over again
• Good housekeeping of variable space
• Easier testing
• 3 parts to each function
• Declaration
• Definition
• Usage (calling)
• NO NESTING IN FUNCTIONS!
 Programming - intermediate
1. Functions
2.File & command line I/O
3. Pre-defined packages
4. Pointers & references
5. Debugging
 Programming - I/O
• Open file / port / command line
• Define access mode
• Read
• Write
• Append
• Read from / write to file / port / command
line
• character / string / numeral / binary / ASCII
• Close file / port / command line
 Programming - intermediate
1. Functions
2. File & command line I/O
3.Pre-defined packages
4. Pointers & references
5. Debugging
 Programming - packages
• Header files / libraries
• Collection of functions that you can utilize
• stdio.h —> file and command line I/O fxns
• math.h —> mathematical fxns
• string.h —> string handling fxns
• time.h —> date & time utilities
• stdlib.h —> random numbers, algorithms,
string conversions, memory management
 Programming - intermediate
1. Functions
2. File & command line I/O
3. Pre-defined packages
4.Pointers & references
5. Debugging
 Programming - pointers
• Each variable is stored in a certain
location (address) on memory
• Referring to the variable only reads the
value
• Passing into a function does not change
value
• Passing the address of a variable into a
function enables changing the value
 Programming - pointers
main() { main() {
for (int i = 1; i ≤ 9; i++) { for (int i = 1; i ≤ 9; i++) {
if (i%3) changeCounter(i); if (i%3) changeCounter(&i);
print(i); print(i);
} }
} }
changeCounter(int j) { changeCounter(int* j) {
j = j + 1; *j = *j + 1;
} }

Result: 1 2 3 4 5 6 7 8 9 Result: 2 3 5 6 8 9
 Programming - intermediate
1. Functions
2. File & command line I/O
3. Pre-defined packages
4. Pointers & references
5.Debugging
 Programming - debugging
• Finding where you made a mistake
• NOT ALL MISTAKES CAN BE FOUND BY
DEBUGGING!
• Usually one mistake leads to another
• Start by fixing the first mistake and running
again!
• You can see variables being defined, functions
being utilized, stored data changing, calculations,
branches and loops, etc.
• Breakpoints, stepping (in), stepping out & over
 Programming
1. Programming basics
• Style, data types, variables, constants
2. Primitives
• Counters, looping, branching, nesting
3. Side info
• Operations, numbering systems, RGB codes
4. Intermediate
• Functions, I/O, packages, pointers, debugging
5.Algorithms
• Flags, Recursion, swap & sort
 Programming - algorithms
1. Flags
2. Recursion
3. Swap & sort
 Programming - algorithms
1.Flags
2. Recursion
3. Swap & sort
 Programming - flags
• Boolean variable
• Used to track changes in situations
• Wait until a counter is 12
• Alert when an LED turns ON
• Wake up when a sensor senses light
• Warn when the program finishes
 Programming - flags
Ex: There are 2 buttons. Wait until buttons are pushed simultaneously.
boolean button1_pressed = false;
boolean button2_pressed = false;
boolean both_pressed = false;
void setup() {
pinMode(3, INPUT_PULLUP); // Define pin 3 as input
pinMode(5, INPUT_PULLUP); // Define pin 5 as input
}
void loop() {
if (digitalRead(3) == LOW) button1_pressed = true;
else button1_pressed = false;
if (digitalRead(5) == LOW) button2_pressed = true;
else button2_pressed = false;
both_pressed = button1_pressed && button2_pressed;
}
 Programming - algorithms
1. Flags
2.Recursion
3. Swap & sort
 Programming - recursion
• Calling a function within itself
• Defining a bigger problem in terms of a
simpler version of itself
• Example (‘finish class’ function):
• Class finished?
• If yes, stop waiting (exit function)
• Wait another minute
• Call ‘finish class’
 Programming - recursion
Example: Factorial
x! = x * (x-1) * (x-2) * … * 4 * 3 * 2 * 1
= x * [(x-1) * (x-2) * … * 4 * 3 * 2 * 1]
= x * (x-1)!

function result = factorial(x) {

if (x == 0) { result = 1; }
else { result = x * factorial(x-1); }
}
 Programming - algorithms
1. Flags
2. Recursion
3.Swap & sort
 Programming - swap & sort
• Usually, need to sort a list of variables
based on a property
• Ex: ‘Sort grades from highest to lowest’
• Many sort algorithms exist
• Bubble sort & selection sort
• All algorithms include swapping
 Programming - swap & sort
main () {
int grades[] = {65, 92, 88, 69, 73};
grades = sort(grades);
}
int * sort(int grades[]) {
int N = sizeof(grades) / sizeof(grades[0]); // length of grades[]
for (int i = 0; i < N; i++) {
for (int j = i+1; j < N; j++) {
if (grades[i]<grades[j]) swap(grades, i, j);
}
} swap (int grades[], int i, int j) {
return grades; int temp = grades[i];
} grades[i] = grades[j];
grades[j] = temp;
}