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From version < 17.1 >
edited by aas2
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8 8  
9 9  == Overview ==
10 10  
11 -Mindstorms is a product family from Lego, with sensors, motors and a programmable brick. The newest iteration of the product family is the EV3 programmable brick. Its predecessors are NXT and RCX. In the following we will see how to develop applications for the NXT brick, thus //Mindstorms// will be used exchangeable with //NXT brick//.
11 +Mindstorms is a product family from Lego, with sensors, motors and a programmable brick. The newest iteration of the product family is the EV3 programmable brick. Its predecessors are NXT and RCX. In the following we will see how to develop applications for the NXT brick.
12 12  
13 13  Several open-source, third-party replacements for the offical Lego firmware have been developed. These support many well known programming languages, such as Java, C/C++, Python, Lua, etc. In the following we will use KIELER SCCharts to program Mindstorms running the Lego Java Operating System ([[leJOS>>url:http://www.lejos.org/||shape="rect"]]). Therefore we will first install leJOS NXJ and flash its firmware. Afterwards we will create a simple SCCharts project in KIELER that we will compile and deploy to the NXT brick.
14 14  
15 +If you want to learn the SCCharts langugage first, you can follow these links:
16 +
17 +* [[Introduction to SCCharts>>doc:SCCharts]]
18 +* [[The Textual SCCharts Language SCT>>doc:Textual SCCharts Language SCT]]
19 +* [[SCCharts Examples>>doc:Examples]]
20 +
15 15  ----
16 16  
17 17  == Download and install leJOS ==
18 18  
19 -Download and extract the newest archives for your Operating System from [[Sourceforce>>url:http://sourceforge.net/projects/nxt.lejos.p/files/||shape="rect"]].
25 +Download and extract the newest archives for your Operating System from [[Sourceforce>>url:http://sourceforge.net/projects/nxt.lejos.p/files/||shape="rect"]] (Linux/Mac) or use the Setup.exe (Windows).
20 20  
21 21  The further installation is explained in detail at [[http:~~/~~/www.lejos.org/nxt/nxj/tutorial/Preliminaries/GettingStarted.htm>>url:http://www.lejos.org/nxt/nxj/tutorial/Preliminaries/GettingStarted.htm||shape="rect"]].
22 22  
29 +Do not forget to flash the download leJOS firmware to the Mindstorms brick as explained in the tutorial!
30 +
23 23  === Known issues ===
24 24  
25 -== Linux ==
33 +==== Linux ====
26 26  
27 27  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.
28 28  
29 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 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**.
39 +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 32  
33 -----
41 +==== Windows ====
34 34  
35 -== Test the Mindstorm ==
43 +The setup.exe of the current LEGO Fantom driver for Windows (1.2.0) has an awkward issue. If you get an error message (Developer Error) because an .msi file could not be found, don't panic. The file is part of the downladed archive (in the Products folder) but you have to start it manually.
36 36  
37 -A simple Hello World application for the Mindstorms is developed as part of the leJOS tutorial [[http:~~/~~/www.lejos.org/nxt/nxj/tutorial/Preliminaries/FirstProgram.htm>>url:http://www.lejos.org/nxt/nxj/tutorial/Preliminaries/FirstProgram.htm||shape="rect"]]
45 +==== Mac OS X ====
38 38  
39 -If this works with your device, you are able to start using KIELER to develop applications for the NXT brick.\\
47 +The **leJOS NXJ** tools require a **32 Bit** version of Java. However, newer 32 Bit versions of Java are not longer available for Mac. Thus to use leJOS the installation of **Java 1.6 is required**, which is the last one that supports a 32 Bit mode. You can download the installer for Java 1.6 from [[https:~~/~~/support.apple.com/kb/dl1572?locale=en_US>>url:https://support.apple.com/kb/dl1572?locale=en_US||shape="rect"]]. It will install Java 1.6 to ///System/Library/Frameworks/JavaVM.framework/Versions/1.6.0/Home// so that the environment variable //LEJOS_NXT_JAVA_HOME//, which is set in the installation instructions, points to the correct path.
40 40  
49 +The environment variable LEJOS_NXT_JAVA_HOME is set in the installation tutorial by editing ~~/.profile. However, on a Mac the environment variables defined in this file are not visible for GUI Applications, only for apps started from terminal. Thus to use leJOS together with KIELER, one either has to start KIELER from terminal or set the environment variable so that all GUI applications can access it. However, this does not seem to be trivial on Mac (see also [[http:~~/~~/stackoverflow.com/questions/135688/setting-environment-variables-in-os-x>>url:http://stackoverflow.com/questions/135688/setting-environment-variables-in-os-x||shape="rect"]]).
50 +
41 41  ----
42 42  
43 -== The Eclipse plugin for leJOS ==
53 +== Test the Mindstorm ==
44 44  
45 -There is an Eclipse plugin for leJOS which adds a project creation wizard and launch configuration to the platform. You can install it via the Eclipse Marketplace (//Help > Eclipse Marketplace...//)
55 +A simple Hello World application for the Mindstorms is developed as part of the leJOS tutorial [[http:~~/~~/www.lejos.org/nxt/nxj/tutorial/Preliminaries/FirstProgram.htm>>url:http://www.lejos.org/nxt/nxj/tutorial/Preliminaries/FirstProgram.htm||shape="rect"]]
46 46  
47 -[[image:attach:lejos_eclipse_plugin.png]]
57 +If this works with your device, you are able to start using KIELER to develop applications for the NXT brick.
48 48  
49 49  ----
50 50  
51 -== Configure KIELER ==
61 +== Download and Configure KIELER
62 + ==
52 52  
53 -With the Eclipse plugin for leJOS installed, you can now use KIELER SCCharts for an model-based approach of programming.
64 +Download and unpack the nightly build of KIELER for your OS. It is available at the [[doc:Downloads]] page.\\
54 54  
55 -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.
66 +**Note:** Java 1.8 is needed on all operating systems. With Java 1.7 not all plugins of KIELER will be loaded. **Furthermore on Windows**, you will need to download the **32 Bit version of KIELER** – even if you have a 64 bit operating system! Otherwise flashing the brick and uploading to the brick will fail.
56 56  
57 -[[image:attach:lejos_nxj_environment.png]]
68 +=== The Eclipse plugin for leJOS ===
58 58  
59 -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.
70 +There is an Eclipse plugin for leJOS which adds a project creation wizard and launch configuration to the platform.
60 60  
61 -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.
72 +1. You have to install it via the Eclipse Marketplace (//Help > Eclipse Marketplace...//).
73 +OR
74 +1. Install the plugin manually (Help > Install new Software...). Use the following update site\\
75 +11. for NXT: [[http:~~/~~/www.lejos.org/tools/eclipse/plugin/nxj/>>url:http://www.lejos.org/tools/eclipse/plugin/nxj/||shape="rect"]]
76 +11. for EV3: [[http:~~/~~/www.lejos.org/tools/eclipse/plugin/ev3/>>url:http://www.lejos.org/tools/eclipse/plugin/ev3/||shape="rect"]]
62 62  
63 -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"]].
78 +If you have an **NXT** **brick**, install the **leJOS NXJ** Plug-in. If you have an **EV3 brick**, install the **leJOS EV3** plugin.
64 64  
65 -----
80 +[[image:attach:Screenshot_20171016_130805.png]]
66 66  
67 -== Using the Remote Console (RConsole) ==
82 +**Tip:** To speed up the installation, uncheck the option "Contact all update sites during install to find required software". This will reduce the installation time from drastically (around 30 seconds instead 10 minutes).
68 68  
69 -The display of the NXT brick is rather small compared to a Monitor. To ease debugging, one can print to a Remote Console (RConsole), if the USB cable is connected. This enables easier collection for example of sensor data.
84 +\\
70 70  
71 -To use the RConsole, **uncomment** the **RConsole** lines in the wrapper code template **Main.ftl**. Start the **nxjconsoleviewer** tool in the bin directory of your **leJOS installation**.
86 +After the installation, the plugin requires a **little configuration**. Go to //Window > Preferences > leJOS NXJ// (//Window > Preferences > leJOS EV3 //respectively) and enter the base directory of your **leJOS** **installation** in the **NXJ_HOME field**.
72 72  
73 -Now, when **starting the application**, the brick tries to connect with the nxjconsoleviewer. **Press the //Connect//** button. If connected succesfully, RConsole.println(...) commands will be written to this window.
88 +For EV3, the plugin requires the IP address to connect to the brick (it may work without, but its safer to directly set the name. Reduces headache ). Check **Connect to named brick** and enter the **IP adress** of the brick (displayed on the brick at startup).
74 74  
75 75  ----
76 76  
77 77  == Creating an Example Project ==
78 78  
79 -The following shows how to create a project, that will turn on a light if a button is pressed.
94 +The following shows how to create a project, which will turn on a light if a button is pressed.
80 80  
81 81  === Create a new project: ===
82 82  
83 -1. Choose //File > New > Project > SCCharts Project//
84 -1. In the project creation wizard that opens, select //Mindstorms NXJ// as environment and hit //finish//
98 +1. Choose //File > New > Project > KIELER SCCharts > SCCharts Project//
99 +1. In the project creation wizard that opens, select //Mindstorms NXJ// or// Mindstorms EV3// (depending on your brick) as environment and hit //finish//
85 85  1. The project wizard from the leJOS plugin opens. Set the project name to //Flashlight// and click //finish//.
86 86  1. The project is created and the model file is opened in an editor (This might take a few seconds).
87 87  
88 -=== Edit the model: ===
103 +=== Edit the Model: ===
89 89  
90 90  Change the contents of the model file to the following code and save it.
91 91  
92 -{{code title="Floodlight.sct" theme="Eclipse" language="sct"}}
107 +{{code language="sct" theme="Eclipse" title="Floodlight.sct"}}
93 93  scchart Flashlight {
94 94  
95 95   @Wrapper TouchSensor, S4
... ... @@ -108,11 +108,598 @@
108 108  
109 109  This model will start in the state lightOff. If the button is pressed, it will turn on the light and change to the corresponding state, where the light is turned off, as soon as the button is not pressed anymore.
110 110  
111 -The annotations on the input and output variable are used to define which wrapper code is used to set / read them. **@Wrapper TouchSensor, S4** will set the input variable to true iff the touch sensor on the port S4 is pressed. **@Wrapper Floodlight, S1** on the output variable will turn on the red led of the light sensor that is attatched to port S1 iff the variable is true.**
126 +The annotations on the input and output variable are used to define which wrapper code is used to set / read them. **@Wrapper TouchSensor, S4** will set the input variable to true iff the touch sensor on the port S4 is pressed. **@Wrapper Floodlight, S1** on the output variable will turn on the red led of the light sensor that is attatched to port S1 iff the variable is true.
127 +
128 +The available wrapper code snippets are defined in the directory //assets/snippets// in ftl files (FreeMarker template files). The table below gives an overview of the available wrapper code snippets.
129 +
130 +**Note:** The Floodlight of the EV3 has a pretty high latency when switching between on and off.
131 +
132 +**Note: **To view ftl files with highlighting, you may want to install the //FreeMarker IDE// feature from the JBoss Tools. However, this is not necessary to work with KIELER. JBoss Tools is available in the Eclipse Market Place and via update site. The update site for stable releases is [[http:~~/~~/download.jboss.org/jbosstools/neon/stable/updates/ >>url:http://download.jboss.org/jbosstools/neon/stable/updates/||shape="rect"]]. Note that only the //FreeMarker IDE// feature is required (Abridged JBoss Tools > FreeMarker IDE).**
112 112  **
113 113  
114 -=== Launch the project: ===
135 +=== Build the Project: ===
115 115  
116 -With the mouse over the SCT file in the project explorer, perform //Right Click > Run As > KiCo Compilation.//
137 +The model is now ready to be compiled. Compilation is done in the background when the project is built. There are two ways to build a project: manually using //Project > Build Project//, or automatically via //Project > Build Automatically//. If the automatic build is enabled, resources are built when they are saved.
117 117  
118 -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.
139 +Building the project will create a new folder //kieler-gen// in which all results are saved. This includes the compiled code from the model, an executable simulation for the model and wrapper code that is ready to be deployed to the Mindstorms Brick.
140 +
141 +The simulation is saved as JAR file in //kieler-gen/sim/bin// and can be started via //Right Click > Run as > KIELER Simulation//. Models and variables of a running simulation are displayed in the Data Pool View.
142 +
143 +[[image:attach:Screenshot_20171016_110005.png]]
144 +
145 +Besides the simulation, the finished wrapper code that can be uploaded to the Mindstorms brick is created as part of the project build. It is saved in //kieler-gen/model//. To upload it to the Mindstorms brick, use //Right Click > Run as > leJOS NXT Program//.
146 +
147 +[[image:attach:Screenshot_20171016_120554.png]]
148 +
149 +==== Excluding the Simulation from the NXT Build ====
150 +
151 +It is necessary to exclude the simulation directory and org.json directory inside kieler-gen from the NXT project specific build via //Right Click > Build Path > Exclude//. Afterwards the project has to be build again to remove all error markers in these directories.
152 +
153 +[[image:attach:Screenshot_20171016_105821.png]]
154 +
155 +Normally the NXT project attempts to compile all Java files in the kieler-gen directory for the platform. However, the simulation that is generated is not targeted at the Mindstorms brick and has compilation errors. It is compiled separately by KIELER.
156 +
157 +=== Available Wrapper Code Snippets ===
158 +
159 +There are several wrapper code snippets that can be used as annotations on input and output variables in the model file. These snippets are inserted in the main file template as part of the project build. The available snippets are listed below.
160 +
161 +For sensors, the port has to be on of S1, S2, S3, S4.
162 +
163 +For motors / actuators the port has to be one of A, B, C, D.
164 +
165 +(% class="wrapped" %)
166 +|=(((
167 +Snippet Name and Parameters
168 +)))|=(((
169 +Description
170 +)))|=(((
171 +Use on
172 +)))|=(% colspan="1" %)(% colspan="1" %)
173 +(((
174 +Variable type
175 +)))|=(((
176 +Remark
177 +)))|=(% colspan="1" %)(% colspan="1" %)
178 +(((
179 +Defined in File
180 +)))
181 +|(% colspan="1" %)(% colspan="1" %)
182 +(((
183 +**Clock,** milliseconds
184 +)))|(% colspan="1" %)(% colspan="1" %)
185 +(((
186 +Sets a variable to true for one tick if the time in milliseconds passed since the last time it was set to true.
187 +)))|(% colspan="1" %)(% colspan="1" %)
188 +(((
189 +input
190 +)))|(% colspan="1" %)(% colspan="1" %)
191 +(((
192 +bool
193 +)))|(% colspan="1" %)(% colspan="1" %)
194 +(((
195 +See also ResetClock.
196 +)))|(% colspan="1" %)(% colspan="1" %)
197 +(((
198 +timing.ftl
199 +)))
200 +|(% colspan="1" %)(% colspan="1" %)
201 +(((
202 +**ResetClock,** clockVariableName, autoFalse
203 +)))|(% colspan="1" %)(% colspan="1" %)
204 +(((
205 +Resets a clock, such that the full time intervall of the clock has to elapse, before the clock will be set to true again.
206 +
207 +If autoFalse is true, the reset variable will be set to false automatically.
208 +)))|(% colspan="1" %)(% colspan="1" %)
209 +(((
210 +output
211 +)))|(% colspan="1" %)(% colspan="1" %)
212 +(((
213 +bool
214 +)))|(% colspan="1" %)(% colspan="1" %)
215 +(((
216 +autoFalse is true per default.
217 +)))|(% colspan="1" %)(% colspan="1" %)
218 +(((
219 +timing.ftl
220 +)))
221 +|(% colspan="1" %)(% colspan="1" %)
222 +(((
223 +**Time**
224 +)))|(% colspan="1" %)(% colspan="1" %)
225 +(((
226 +Reads the elapsed time since program start
227 +)))|(% colspan="1" %)(% colspan="1" %)
228 +(((
229 +input
230 +)))|(% colspan="1" %)(% colspan="1" %)
231 +(((
232 +int
233 +)))|(% colspan="1" %)(% colspan="1" %)
234 +(((
235 +\\
236 +)))|(% colspan="1" %)(% colspan="1" %)
237 +(((
238 +timing.ftl
239 +)))
240 +|(% colspan="1" %)(% colspan="1" %)
241 +(((
242 +**TickLoopDuration,** targetInMilliseconds
243 +)))|(% colspan="1" %)(% colspan="1" %)
244 +(((
245 +Delays the execution until the tick loop takes at least as long as the given target duration.
246 +
247 +The input variable is set to the actual tick loop duration.
248 +)))|(% colspan="1" %)(% colspan="1" %)
249 +(((
250 +input
251 +)))|(% colspan="1" %)(% colspan="1" %)
252 +(((
253 +int
254 +)))|(% colspan="1" %)(% colspan="1" %)
255 +(((
256 +Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
257 +)))|(% colspan="1" %)(% colspan="1" %)
258 +(((
259 +timing.ftl
260 +)))
261 +|(% colspan="1" %)(% colspan="1" %)
262 +(((
263 +**TickWakeUp**
264 +)))|(% colspan="1" %)(% colspan="1" %)
265 +(((
266 +Sets the input variable to the current system time. The model can add to this variable to get a new value. This is the next system time it will be called.
267 +
268 +This means the next tick function call is delayed until the wake up time has been reached.
269 +)))|(% colspan="1" %)(% colspan="1" %)
270 +(((
271 +input
272 +)))|(% colspan="1" %)(% colspan="1" %)
273 +(((
274 +int
275 +)))|(% colspan="1" %)(% colspan="1" %)
276 +(((
277 +Should be used on the very last input variable in the model, such that waiting and settings the system time is the last action done, before the tick function call.
278 +)))|(% colspan="1" %)(% colspan="1" %)
279 +(((
280 +timing.ftl
281 +)))
282 +|(% colspan="1" %)(% colspan="1" %)
283 +(((
284 +**Sleep**
285 +)))|(% colspan="1" %)(% colspan="1" %)
286 +(((
287 +Lets the current thread sleep the time in milliseconds of the variable value.
288 +)))|(% colspan="1" %)(% colspan="1" %)
289 +(((
290 +output
291 +)))|(% colspan="1" %)(% colspan="1" %)
292 +(((
293 +int
294 +)))|(% colspan="1" %)(% colspan="1" %)
295 +(((
296 +\\
297 +)))|(% colspan="1" %)(% colspan="1" %)
298 +(((
299 +timing.ftl
300 +)))
301 +|(% colspan="1" %)(% colspan="1" %)
302 +(((
303 +**Print,** autoReset
304 +)))|(% colspan="1" %)(% colspan="1" %)
305 +(((
306 +Prints a string variable if the string is not empty. If autoReset is true then the string variable is set to the empty string after it has been printed
307 +)))|(% colspan="1" %)(% colspan="1" %)
308 +(((
309 +output
310 +)))|(% colspan="1" %)(% colspan="1" %)
311 +(((
312 +string
313 +)))|(% colspan="1" %)(% colspan="1" %)
314 +(((
315 +autoReset is true per default.
316 +)))|(% colspan="1" %)(% colspan="1" %)
317 +(((
318 +print.ftl
319 +)))
320 +|(% colspan="1" %)(% colspan="1" %)
321 +(((
322 +**DrawString,** x, y
323 +)))|(% colspan="1" %)(% colspan="1" %)
324 +(((
325 +Prints a string to the given x and y coordinate on the LCD.
326 +)))|(% colspan="1" %)(% colspan="1" %)
327 +(((
328 +output
329 +)))|(% colspan="1" %)(% colspan="1" %)
330 +(((
331 +string
332 +)))|(% colspan="1" %)(% colspan="1" %)
333 +(((
334 +\\
335 +)))|(% colspan="1" %)(% colspan="1" %)
336 +(((
337 +print.ftl
338 +)))
339 +|(% colspan="1" %)(% colspan="1" %)
340 +(((
341 +**Button, **buttonId
342 +)))|(% colspan="1" %)(% colspan="1" %)
343 +(((
344 +Sets a variable to true iff the button on the Mindstorms device is pressed.
345 +)))|(% colspan="1" %)(% colspan="1" %)
346 +(((
347 +input
348 +)))|(% colspan="1" %)(% colspan="1" %)
349 +(((
350 +bool
351 +)))|(% colspan="1" %)(% colspan="1" %)
352 +(((
353 +The buttonId has to be one of ENTER, LEFT, RIGHT
354 +)))|(% colspan="1" %)(% colspan="1" %)
355 +(((
356 +touch_and_buttons.ftl
357 +)))
358 +|(% colspan="1" %)(% colspan="1" %)
359 +(((
360 +**TouchSensor**, port
361 +)))|(% colspan="1" %)(% colspan="1" %)
362 +(((
363 +Sets a variable to true iff the touch sensor on the given port is pressed.
364 +)))|(% colspan="1" %)(% colspan="1" %)
365 +(((
366 +input
367 +)))|(% colspan="1" %)(% colspan="1" %)
368 +(((
369 +bool
370 +)))|(% colspan="1" %)(% colspan="1" %)
371 +(((
372 +\\
373 +)))|(% colspan="1" %)(% colspan="1" %)
374 +(((
375 +touch_and_buttons.ftl
376 +)))
377 +|(% colspan="1" %)(% colspan="1" %)
378 +(((
379 +**LightSensor,** port, percentValue
380 +)))|(% colspan="1" %)(% colspan="1" %)
381 +(((
382 +Reads  the value of a light sensor.
383 +
384 +If percentValue is true, the a percent value is retured, based on the light sensor calibration.
385 +)))|(% colspan="1" %)(% colspan="1" %)
386 +(((
387 +input
388 +)))|(% colspan="1" %)(% colspan="1" %)
389 +(((
390 +int
391 +)))|(% colspan="1" %)(% colspan="1" %)
392 +(((
393 +percentValue is not available on EV3
394 +)))|(% colspan="1" %)(% colspan="1" %)
395 +(((
396 +light.ftl
397 +)))
398 +|(% colspan="1" %)(% colspan="1" %)
399 +(((
400 +**CalibrateLightSensor,** port, signal
401 +)))|(% colspan="1" %)(% colspan="1" %)
402 +(((
403 +Calibrates a light sensors high or low values. This means if the variable is true, the current value of the light sensor is taken as its reference high / low value.
404 +)))|(% colspan="1" %)(% colspan="1" %)
405 +(((
406 +output
407 +)))|(% colspan="1" %)(% colspan="1" %)
408 +(((
409 +bool
410 +)))|(% colspan="1" %)(% colspan="1" %)
411 +(((
412 +signal has to be one of High, Low
413 +)))|(% colspan="1" %)(% colspan="1" %)
414 +(((
415 +light.ftl
416 +)))
417 +|(% colspan="1" %)(% colspan="1" %)
418 +(((
419 +**Floodlight,** port
420 +)))|(% colspan="1" %)(% colspan="1" %)
421 +(((
422 +Reads / Sets the state of the red lamp of the light sensor.
423 +)))|(% colspan="1" %)(% colspan="1" %)
424 +(((
425 +input
426 +
427 +output
428 +)))|(% colspan="1" %)(% colspan="1" %)
429 +(((
430 +bool
431 +)))|(% colspan="1" %)(% colspan="1" %)
432 +(((
433 +\\
434 +)))|(% colspan="1" %)(% colspan="1" %)
435 +(((
436 +light.ftl
437 +)))
438 +|(% colspan="1" %)(% colspan="1" %)
439 +(((
440 +**RCXLamp,** port
441 +)))|(% colspan="1" %)(% colspan="1" %)
442 +(((
443 +Turns an RCX lamp on (variable is true) or off (variable is false)
444 +)))|(% colspan="1" %)(% colspan="1" %)
445 +(((
446 +output
447 +)))|(% colspan="1" %)(% colspan="1" %)
448 +(((
449 +bool
450 +)))|(% colspan="1" %)(% colspan="1" %)
451 +(((
452 +\\
453 +)))|(% colspan="1" %)(% colspan="1" %)
454 +(((
455 +light.ftl
456 +)))
457 +|(% colspan="1" %)(% colspan="1" %)
458 +(((
459 +**MotorSpeed,** port, brake
460 +)))|(% colspan="1" %)(% colspan="1" %)
461 +(((
462 +Reads / Sets the speed of the motor in degrees per minute. If the speed value is negative, the motor will drive backwards. If the speed is zero, the motor will actively brake until it stops (brake is true) or remove all power and rollout (brake is false).
463 +)))|(% colspan="1" %)(% colspan="1" %)
464 +(((
465 +input
466 +
467 +output
468 +)))|(% colspan="1" %)(% colspan="1" %)
469 +(((
470 +int
471 +)))|(% colspan="1" %)(% colspan="1" %)
472 +(((
473 +brake is true per default.
474 +)))|(% colspan="1" %)(% colspan="1" %)
475 +(((
476 +motor.ftl
477 +)))
478 +|(% colspan="1" %)(% colspan="1" %)
479 +(((
480 +**MotorIsMoving,** port
481 +)))|(% colspan="1" %)(% colspan="1" %)
482 +(((
483 +Sets a variable to true iff the motor on the given port is moving.
484 +)))|(% colspan="1" %)(% colspan="1" %)
485 +(((
486 +input
487 +)))|(% colspan="1" %)(% colspan="1" %)
488 +(((
489 +bool
490 +)))|(% colspan="1" %)(% colspan="1" %)
491 +(((
492 +\\
493 +)))|(% colspan="1" %)(% colspan="1" %)
494 +(((
495 +motor.ftl
496 +)))
497 +|(% colspan="1" %)(% colspan="1" %)
498 +(((
499 +**MotorRotation,** port
500 +)))|(% colspan="1" %)(% colspan="1" %)
501 +(((
502 +Lets a motor rotate the variable value in degrees. This is only done if the value is unequal zero. If the value is negative, the motor rotates backwards. The variable is set to zero afterwards, such that setting the variable once to a value //X//, will let the motor rotate //X// degrees.
503 +)))|(% colspan="1" %)(% colspan="1" %)
504 +(((
505 +output
506 +)))|(% colspan="1" %)(% colspan="1" %)
507 +(((
508 +int
509 +)))|(% colspan="1" %)(% colspan="1" %)
510 +(((
511 +\\
512 +)))|(% colspan="1" %)(% colspan="1" %)
513 +(((
514 +motor.ftl
515 +)))
516 +|(% colspan="1" %)(% colspan="1" %)
517 +(((
518 +**Beep,** volume
519 +)))|(% colspan="1" %)(% colspan="1" %)
520 +(((
521 +Plays a beep sound as long as the variable is true.
522 +)))|(% colspan="1" %)(% colspan="1" %)
523 +(((
524 +output
525 +)))|(% colspan="1" %)(% colspan="1" %)
526 +(((
527 +bool
528 +)))|(% colspan="1" %)(% colspan="1" %)
529 +(((
530 +default volume is 10
531 +)))|(% colspan="1" %)(% colspan="1" %)
532 +(((
533 +sound.ftl
534 +)))
535 +|(% colspan="1" %)(% colspan="1" %)
536 +(((
537 +**Buzz,** volume
538 +)))|(% colspan="1" %)(% colspan="1" %)
539 +(((
540 +Plays a buzz sound as long as the variable is true.
541 +)))|(% colspan="1" %)(% colspan="1" %)
542 +(((
543 +output
544 +)))|(% colspan="1" %)(% colspan="1" %)
545 +(((
546 +bool
547 +)))|(% colspan="1" %)(% colspan="1" %)
548 +(((
549 +default volume is 10
550 +)))|(% colspan="1" %)(% colspan="1" %)
551 +(((
552 +sound.ftl
553 +)))
554 +|(% colspan="1" %)(% colspan="1" %)
555 +(((
556 +**BeepSequence,** direction, volume
557 +)))|(% colspan="1" %)(% colspan="1" %)
558 +(((
559 +Plays a sequence of tones in either ascending or descending tone frequency if the variable is true.
560 +
561 +The variable is set to false automatically.
562 +)))|(% colspan="1" %)(% colspan="1" %)
563 +(((
564 +output
565 +)))|(% colspan="1" %)(% colspan="1" %)
566 +(((
567 +bool
568 +)))|(% colspan="1" %)(% colspan="1" %)
569 +(((
570 +direction has to be one of Up, Down
571 +
572 +default volume is 10
573 +)))|(% colspan="1" %)(% colspan="1" %)
574 +(((
575 +sound.ftl
576 +)))
577 +|(% colspan="1" %)(% colspan="1" %)
578 +(((
579 +**UltrasonicSensor,** port
580 +)))|(% colspan="1" %)(% colspan="1" %)
581 +(((
582 +Reads the distance that an ultrasonic sensor measures.
583 +)))|(% colspan="1" %)(% colspan="1" %)
584 +(((
585 +input
586 +)))|(% colspan="1" %)(% colspan="1" %)
587 +(((
588 +int
589 +)))|(% colspan="1" %)(% colspan="1" %)
590 +(((
591 +\\
592 +)))|(% colspan="1" %)(% colspan="1" %)
593 +(((
594 +ultrasonic.ftl
595 +)))
596 +|(% colspan="1" %)(% colspan="1" %)
597 +(((
598 +**Gyro,** port, mode
599 +)))|(% colspan="1" %)(% colspan="1" %)
600 +(((
601 +Reads the value of a gyroscope.
602 +)))|(% colspan="1" %)(% colspan="1" %)
603 +(((
604 +input
605 +)))|(% colspan="1" %)(% colspan="1" %)
606 +(((
607 +int
608 +)))|(% colspan="1" %)(% colspan="1" %)
609 +(((
610 +Not available on NXT
611 +
612 +mode hat to be one of Angle, Rate
613 +)))|(% colspan="1" %)(% colspan="1" %)
614 +(((
615 +gyro.ftl
616 +)))
617 +|(% colspan="1" %)(% colspan="1" %)
618 +(((
619 +**CalibrateGyro,** port, autoReset
620 +)))|(% colspan="1" %)(% colspan="1" %)
621 +(((
622 +Resets a gyroscope if the variable is true.
623 +
624 +If autoReset is true, the variable is set to false automatically.
625 +)))|(% colspan="1" %)(% colspan="1" %)
626 +(((
627 +output
628 +)))|(% colspan="1" %)(% colspan="1" %)
629 +(((
630 +bool
631 +)))|(% colspan="1" %)(% colspan="1" %)
632 +(((
633 +autoReset is true per default
634 +)))|(% colspan="1" %)(% colspan="1" %)
635 +(((
636 +gyro.ftl
637 +)))
638 +
639 +\\
640 +
641 +----
642 +
643 +== Using the Remote Console (RConsole) ==
644 +
645 +The display of the **NXT brick** is rather small compared to a Monitor. To ease debugging, one can print to a Remote Console (RConsole), if the USB cable is connected. This enables easier collection for example of sensor data.
646 +
647 +To use the RConsole, **uncomment** the **RConsole** lines in the wrapper code template **Main.ftl**. Start the **nxjconsoleviewer** tool in the bin directory of your **leJOS installation**. Now, when **starting the application**, the brick tries to connect with the nxjconsoleviewer. **Press the //Connect//** button. If connected succesfully, RConsole.println(...) commands will be written to this window.
648 +
649 +The **EV3 brick** has a similar feature. However it does not require any code changes. Just run the ev3console program in the bin directory of your leJOS installation from command line. The output of the brick will be printed to this command line.
650 +
651 +----
652 +
653 +== Problem Solving ==
654 +
655 +The following presents typical issues and how to solve them.
656 +
657 +(% class="wrapped" %)
658 +|=(((
659 +Issue
660 +)))|=(((
661 +Typical Error Messages
662 +)))|=(((
663 +Description
664 +)))|=(((
665 +Solution
666 +)))
667 +|(((
668 +leJOS EV3 does not support Java 8
669 +)))|(((
670 +"java.lang.UnsupportedClassVersionError"
671 +
672 +"unsupported major.minor version"
673 +)))|(((
674 +You compile the sources in your project with Java 8 and upload them to the brick. However the lejos EV3 does not support Java 8
675 +)))|(((
676 +Go to the project properties and switch to Java 7 (Right Click on project > Properties > Java Compiler > Compiler compliance level)
677 +)))
678 +|(% colspan="1" %)(% colspan="1" %)
679 +(((
680 +Uploading to the brick does not respond
681 +)))|(% colspan="1" %)(% colspan="1" %)
682 +(((
683 +\\
684 +)))|(% colspan="1" %)(% colspan="1" %)
685 +(((
686 +You compile a file successfully and when uploading the result, the connected brick is found. Anyway the upload does not terminate and does not react.
687 +)))|(% colspan="1" %)(% colspan="1" %)
688 +(((
689 +Flash the brick with the current leJOS firmware. If the brick is recognized correctly and the attempt to upload a compiled file fails then the firmware on the brick might be outdated.
690 +)))
691 +|(% colspan="1" %)(% colspan="1" %)
692 +(((
693 +Compilation and uploading works from command line but not when using KIELER
694 +)))|(% colspan="1" %)(% colspan="1" %)
695 +(((
696 +This Java instance does not support a 32-bit JVM. Please install the desired version.
697 +)))|(% colspan="1" %)(% colspan="1" %)
698 +(((
699 +You can compile and upload code to the brick using the command line tools but when using KIELER an error message apprears because Java does not support 32-bit JVM.
700 +)))|(% colspan="1" %)(% colspan="1" %)
701 +(((
702 +Set the LEJOS_NXT_JAVA_HOME environment variable, such that it points to an 32-bit JDK and is visible for GUI applications (or at least KIELER). The process to do so differs on every OS. As alternative, execute KIELER from terminal.
703 +)))
704 +|(% colspan="1" %)(% colspan="1" %)
705 +(((
706 +Brick does nothing after program finished and prints "Program exit"
707 +)))|(% colspan="1" %)(% colspan="1" %)
708 +(((
709 +\\
710 +)))|(% colspan="1" %)(% colspan="1" %)
711 +(((
712 +A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
713 +)))|(% colspan="1" %)(% colspan="1" %)
714 +(((
715 +This is normal behaviour if uploading a program in debug mode instead run mode (//Debug As// instead //Run As// in Eclipse). To get back to the main menu, press the ENTER and ESCAPE button of the brick at the same time.
716 +)))
717 +
718 +\\
719 +
720 +\\
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -13763409
1 +37814287
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/13763409/LEGO Mindstorms with leJOS and SCCharts
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/37814287/LEGO Mindstorms with leJOS and SCCharts

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