컴퓨터 프로그래밍 능력을 배우기 위해 하드웨어로는 LEGO 사의 NXT 또는 EV3를 활용하고,
소프트웨어로는 RobotC를 이용하여 교재를 구성하였다. C언어의 문법과 다양한 문제 해결 능력
을 가질 수 있도록 간단한 실습예제부터 복잡한 실습과제를 RobotC를 이용하여 단계적으로 해결
하는 과정을 진행한다.
우선 LEGO 사의 NXT를 간단히 소개하고 이보다 기능이 향상된 EV3를 활용하여 하드웨어를
구성하여 실습하고자 한다. EV3는 센서부와 구동부를 사용자가 원하는 목적을 달성하기 위하여
다양하게 구성할 수 있다. 센서부에는 터치센서, 칼라센서, 초음파센서, 자이로센서 등을 사용할
수 있고, 구동부에는 라지모터와 미디엄모터를 기본으로 활용할 수 있다. 본 교재에서는 C언어를
배우고 활용하기 위하여 아래와 같은 EV3 로봇을 구성하여 대부분의 실습을 진행할 예정이다.
- 센서부 : 터치센서 1개, 칼라센서 2개, 초음파센서 1개
- 구동부 : 라지모터 2개, 미디엄모터 1개
- 제어기 : EV3 브릭 1개
간단한 실습문제를 RobotC로 작성하여 EV3에 다운로드 하여 직접 구동해 보면서 학습자가
원하는 목표대로 움직이는지 확인하고 수정해 가면서 프로그램 방법을 학습하고, 또한 실전과제
를 해결하면서 실무에 적용할 수 있는 능력을 배양할 수 있도록 교재를 구성하였다.
RobotC를 이용하여 프로그램을 편집하고 컴파일하며 링크한 후, EV3에 유선 또는 무선으로
다운로드하고 실행하여, 반복적인 프로그램의 디버깅을 통하여 C언어 문법 및 알고리즘을 자연스
럽게 학습하고 응용할 수 있도록 한다. 또한 실습문제를 진행하면서 필요한 C언어의 기본적인
문법을 익힐 수 있도록 하며, 실무에 응용할 수 있는 구체적인 방법을 스스로 터득할 수 있도록
교재를 구성하였다.
본 교재를 이용하여 스스로 C언어를 학습하거나 대학에서 강의를 효과적으로 진행할 수 있도록
실전 경진대회 문제를 다루고 있으며, 이를 해결하면서 다음과 같은 학습자의 능력을 갖출 수
있고자 한다.
? LEGO NXT 또는 EV3를 활용하여 하드웨어 구성 능력을 기를 수 있다.
? RobotC 소프트웨어를 배워서 직접 하드웨어에 적용하여 프로그램을 작성할 수 있다.
? 실습문제 및 실습과제를 해결하기 위한 순서도를 작성하고 프로그래밍 할 수 있다.
? RobotC를 이용하여 프로그램을 편집, 컴파일, 링크, 디버깅 및 실행할 수 있다.
? 자동화 엔지니어에게 필요한 실무적인 프로그램을 작성하여 응용할 수 있다.
특히 본 교재는 LEGO EV3에 대한 예제 및 실무 프로그램을 직접 작성하면서 실습할 수 있도록
RobotC 프로그램 방법과 실무적인 예제를 중점적으로 다루고 있다. 본 교재를 출판할 수 있도록
도와주신 복두출판사에 감사를 드립니다.
2015년 9월
저자 황 우 현

Chapter 1 ▶ NXT와 EV3 소개
1.1 LEGO NXT와 EV3 소개 ······························································ 7
1.2 로봇 브릭 및 센서 연결 ······························································· 9
1.3 모터 연결 ··················································································· 15
1.4 로봇 기본세트 만들기 ······························································· 20
1.5 ROBOTC 소개 및 설치 ······························································ 20
1.6 ROBOTC 디버깅 ········································································ 25
Chapter 2 ▶ 구동 모터 제어
2.1 모터의 이동거리 제어 ······························································· 30
2.2 실습과제: 직사각형 주행 ·························································· 39
2.3 ROBOTC 자료형과 연산 ··························································· 40
Chapter 3 ▶ 제어문 활용
3.1 while 제어문 ·············································································· 45
3.2 실습과제: while 문 활용 ··························································· 50
3.3 if 제어문 ····················································································· 51
3.4 ROBOTC 연산 및 우선순위 ······················································ 55
3.5 실습과제: if 조건문 활용 ··························································· 57
3.6 for 제어문 ··················································································· 58
3.7 switch 제어문 ············································································ 60
3.8 실습과제: switch 문 활용 ························································· 62
Chapter 4 ▶ 함수 활용
4.1 함수의 정의 ················································································ 64
4.2 모듈 프로그램의 작성 및 사용 ·················································· 67
Chapter 5 ▶ 터치센서 활용
5.1 터치센서 설정 ············································································ 70
5.2 실습과제: 터치센서 활용 ·························································· 76
Chapter 6 ▶ 라인 탐색
6.1 칼라센서 설정 및 연결 ······························································ 79
6.2 라인 따라가기 ············································································ 90
6.3 라인 교차점 카운트 ··································································· 96
Chapter 7 ▶ 거리 측정
7.1 초음파센서 설정 ········································································ 99
7.2 시간제어 ·················································································· 103
Chapter 8 ▶ 엔코더 활용
8.1 모터의 구동 ············································································· 105
8.2 모터의 회전 ············································································· 107
8.3 모터의 이동거리 정밀한 제어 ················································· 109
8.4 실습과제: 책상 끝 멈추기 ······················································ 113
8.5 PID 속도제어 ··········································································· 119
8.6 실습문제: 자동차 핸들 ··························································· 122
Chapter 9 ▶ 경로탐색 과제
9.1 경로 탐색 방법 ········································································ 124
9.2 최종 과제 1: 로봇 씨름 ·························································· 128
9.3 최종 과제 2: 로봇 포켓볼 ······················································· 131
9.4 EV3로 물건이송 프로그램 ······················································ 133
9.5 WRO 중등부 과제: 보물찾기 ················································· 138