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...	...	@@ -22,8 +22,14 @@
22	22
23	23	=== Known issues ===
24	24
	25	+== Linux ==
	26	+
25	25	On Linux there is an issue when uploading the firmware because of a kernel module ([[http:~~/~~/ubuntuforums.org/showthread.php?t=1123633>>url:http://ubuntuforums.org/showthread.php?t=1123633||shape="rect"]]). If you can't upload the firmware with your Linux OS, add **blacklist cdc_acm**{{code language="none"}}{{/code}} at the very end of the file **{{code language="none"}}/etc/modprobe.d/blacklist.conf{{/code}}**. Afterwards execute **{{code language="none"}}sudo rmmod cdc_acm{{/code}}**. This will remove the cdc_acm module from the kernel and prevent its restart. Now try to flash the firmware again.
26	26
	29	+Another issue is that the development package of **libusb** has to be installed. On Ubuntu you can do this by using **{{code language="none"}}sudo apt-get install libusb-dev{{/code}}**.
	30	+
	31	+Furthermore, to use USB connection, a java library has to be compiled via ant. To do this perform **cd /path/to/leJOS/build** and start ant. If the ant build tool is not installed on your system, you can do so via **sudo apt-get install ant**.
	32	+
27	27	----
28	28
29	29	== Test the Mindstorm ==
...	...	@@ -46,16 +46,14 @@
46	46
47	47	With the Eclipse plugin for leJOS installed, you can now use KIELER SCCharts for an model-based approach of programming.
48	48
49		-First check the environment settings for NXJ of the KIELER tool (//Window > Preferences > KIELER > Environments//). Ensure that the commands of the execute tab have correct paths. They have to use the lib directory of your leJOS installation.
	55	+First check the environment settings for NXJ of the KIELER tool (//Window > Preferences > KIELER > Environments//). On the **Execute** tab, ensure that only the commands for your operating system are checked.
50	50
51		-[[image:attach:lejos_nxj_environment.png]]
	57	+Hit the //Variables// button and search for **nxj.home**. If the variable exists, your good. If it does not exist, create a new variable (//Edit Variables... > New//) with that name and point it to the base folder of your leJOS installation. The variable is referenced by the shell commands of the environment.
52	52
53		-Create a first project using the SCCharts project wizard (//File > New > Project > KIELER SCCharts > SCT Project//) and select the environment for leJOS NXJ. When pressing the finish button, the project wizard of the leJOS plugin will start. Set the project name and hit finish. The project will be created by the leJOS plugin and initialized by the KIELER plugin, giving it a model file and a file with wrapper code to initalize and run the model.
	59	+[[image:attach:environments_preferences.png]]
54	54
55		-When you choose //Debug As > KiCo Compilation// on the model, it is compiled by the KIELER Compiler to Java code and further compiled and deployed to the NXT brick using the commands from aforesaid environment.
	61	+**Note:** If you already created and launched a project, the settings of the environment are copied to the launch configuration. It is thus may be necessary to alter settings on the launch configuration as well as the environment.
56	56
57		-For a deeper understanding of the project launch and initialization, take a look at the [[wiki page for Prom>>url:http://rtsys.informatik.uni-kiel.de/confluence/pages/viewpage.action?pageId=13762626||shape="rect"]].
58		-
59	59	----
60	60
61	61	== Using the Remote Console (RConsole) ==
...	...	@@ -74,7 +74,7 @@
74	74
75	75	=== Create a new project: ===
76	76
77		-1. Choose //File > New > Project > SCCharts Project//
	81	+1. Choose //File > New > Project > KIELER SCCharts > SCCharts Project//
78	78	1. In the project creation wizard that opens, select //Mindstorms NXJ// as environment and hit //finish//
79	79	1. The project wizard from the leJOS plugin opens. Set the project name to //Flashlight// and click //finish//.
80	80	1. The project is created and the model file is opened in an editor (This might take a few seconds).
...	...	@@ -110,3 +110,5 @@
110	110	With the mouse over the SCT file in the project explorer, perform //Right Click > Run As > KiCo Compilation.//
111	111
112	112	A launch config is created, which compiles the model to Java code and creates wrapper code from the annotations in the model file. Afterwards this output is compiled and deployed to the Mindstorms brick, by using the shell commands that are defined in the Mindstorms NXJ environment.
	117	+
	118	+For a deeper understanding of the project launch and initialization, take a look at the [[wiki page for Prom>>url:http://rtsys.informatik.uni-kiel.de/confluence/pages/viewpage.action?pageId=13762626||shape="rect"]].

Confluence.Code.ConfluencePageClass[0]

Id

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1		-13763403
	1	+13763595

URL

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1		-https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/13763403/LEGO Mindstorms with leJOS and SCCharts
	1	+https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/13763595/LEGO Mindstorms with leJOS and SCCharts