Changes for page LEGO Mindstorms with leJOS and SCCharts

Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17

From version < 25.1 >

edited by cmot
on 2015/12/15 17:52

To version < 33.1 >

edited by aas2
on 2016/02/15 16:25

Change comment: There is no comment for this version

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@@ -1,1 +1,1 @@
--XWiki.cmot
++XWiki.aas2

Content

@@ -20,16 +20,28 @@
  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"]].
++Do not forget to flash the download leJOS firmware to the Mindstorms brick as explained in the tutorial!
++
  === Known issues ===
--== Linux ==
++==== Linux ====
  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.
  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}}**.
--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**.
++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**.
++==== Windows ====
++
++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.
++
++==== Mac OS X ====
++
++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.
++
++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"]]).
++
  ----
  == Test the Mindstorm ==
@@ -36,12 +36,19 @@
  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"]]
--If this works with your device, you are able to start using KIELER to develop applications for the NXT brick.\\
++If this works with your device, you are able to start using KIELER to develop applications for the NXT brick.
  ----
--== The Eclipse plugin for leJOS ==
++== Download and Configure KIELER
++ ==
++Download and unpack the nightly build of KIELER for your OS. It is available at the [[doc:Downloads]] page.\\
++
++**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.
++
++=== The Eclipse plugin for leJOS ===
++
  There is an Eclipse plugin for leJOS which adds a project creation wizard and launch configuration to the platform.
 . You have to install it via the Eclipse Marketplace (//Help > Eclipse Marketplace...//).
@@ -49,21 +49,20 @@
 . Install the plugin manually (Help > Install new Software...). Use the following update site\\
 . for NXT: [[http:~~/~~/www.lejos.org/tools/eclipse/plugin/nxj/>>url:http://www.lejos.org/tools/eclipse/plugin/nxj/||shape="rect"]]
 . for EV3: [[http:~~/~~/www.lejos.org/tools/eclipse/plugin/ev3/>>url:http://www.lejos.org/tools/eclipse/plugin/ev3/||shape="rect"]]
--\\\\
  If you have an **NXT** **brick**, install the **leJOS NXJ** Plug-in. If you have an **EV3 brick**, install the **leJOS EV3** plugin.
  [[image:attach:lejos_eclipse_plugin.png]]
--After the installation, the plugin requires a **little configuration**. Go to //Window > Preferences > leJOS NXJ// and enter the base directory of your **leJOS** **installation** in the **NXJ_HOME field**.
++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**.
--For the **EV3 plugin**, the required dialog is under //Window > Preferences > leJOS EV3//. You have to set the **leJOS installation directory**. Furthermore the leJOS EV3 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).
++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).
  ----
  == Creating an Example Project ==
--The following shows how to create a project, that will turn on a light if a button is pressed.
++The following shows how to create a project, which will turn on a light if a button is pressed.
  === Create a new project: ===
@@ -76,7 +76,7 @@
  Change the contents of the model file to the following code and save it.
--{{code title="Floodlight.sct" theme="Eclipse" language="sct"}}
++{{code language="sct" theme="Eclipse" title="Floodlight.sct"}}
  scchart Flashlight {
      @Wrapper TouchSensor, S4
@@ -97,9 +97,11 @@
  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.
--The available wrapper code snippets are defined in the //snippets// directory of the project in ftl files (FreeMarker template files). (To view ftl files with highlighting, you may want to install the FreeMarker IDE feature from the JBoss tools that is available in the Eclipse Market Place.)
++The available wrapper code snippets are defined in the //snippets// directory of the project in ftl files (FreeMarker template files). The table below gives an overview of the available wrapper code snippets.
--**Note:** The Floodlight of the EV3 has a pretty high latency when switching between on and off.**
++**Note:** The Floodlight of the EV3 has a pretty high latency when switching between on and off.
++
++**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 Eclipse Luna is [[http:~~/~~/download.jboss.org/jbosstools/updates/stable/luna/>>url:http://download.jboss.org/jbosstools/updates/stable/luna/||shape="rect"]] . Note that only the //FreeMarker IDE// feature is required (Abridged JBoss Tools > FreeMarker IDE).**
  **
  === Launch the project: ===
@@ -110,6 +110,399 @@
  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"]].
++=== Available Wrapper Code Snippets ===
++
++There are several wrapper code snippets that can be used on input and output variables in the model file. These snippets are inserted in the main file template as part of the project launch. The available snippets are listed below.
++
++For sensors, the port has to be on of S1, S2, S3, S4.
++
++For motors the port has to be one of A, B, C, D.
++
++|=(((
++Snippet Name and Parameters
++)))|=(((
++Description
++)))|=(((
++Use on
++)))|=(% colspan="1" %)(% colspan="1" %)
++(((
++Variable type
++)))|=(((
++Remark
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Clock,** milliseconds
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Sets a variable to true if the time in milliseconds passed
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++See also ResetClock.
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**ResetClock,** clockVariableName, autoFalse
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Resets a clock, such that the full time intervall of the clock has to elapse, before the clock will be set to true again.
++
++If autoFalse is true, the reset variable will be set to false automatically.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++autoFalse is true per default.
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Time**
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Reads the elapsed time since program start
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**TickDuration,** targetInMilliseconds
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Delays the execution until the tick loop takes at least as long as the given target duration.
++
++The input variable is set to the actual tick loop duration.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Sleep**
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Lets the current thread sleep the time in milliseconds of the variable value.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Print,** autoReset
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++string
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++autoReset is true per default.
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**DrawString,** x, y
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Prints a string to the given x and y coordinate on the LCD.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++string
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Button, **buttonId
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Sets a variable to true iff the button on the Mindstorms device is pressed.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++The buttonId has to be one of ENTER, LEFT, RIGHT
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**TouchSensor**, port
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Sets a variable to true iff the touch sensor on the given port is pressed.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**LightSensor,** port, percentValue
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Reads  the value of a light sensor.
++
++If percentValue is true, the a percent value is retured, based on the light sensor calibration.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++percentValue is not available on EV3
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**CalibrateLightSensor,** port, signal
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++signal has to be one of High, Low
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Floodlight,** port
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Reads / Sets the state of the red lamp of the light sensor.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**RCXLamp,** port
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Turns an RCX lamp on (variable is true) or off (variable is false)
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**MotorSpeed,** port, brake
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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).
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++brake is true per default.
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**MotorIsMoving,** port
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Sets a variable to true iff the motor on the given port is moving.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**MotorRotation,** port
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Beep,** volume
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Plays a beep sound as long as the variable is true.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++default volume is 10
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Buzz,** volume
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Plays a buzz sound as long as the variable is true.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++default volume is 10
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**BeepSequence,** direction, volume
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Plays a sequence of tones in either ascending or descending tone frequency if the variable is true.
++
++The variable is set to false automatically.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++direction has to be one of Up, Down
++
++default volume is 10
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**UltrasonicSensor,** port
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Reads the distance that an ultrasonic sensor measures.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**Gyro,** port, mode
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Reads the value of a gyroscope.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Not available on NXT
++
++mode hat to be one of Angle, Rate
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++**CalibrateGyro,** port, autoReset
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++Resets a gyroscope if the variable is true.
++
++If autoReset is true, the variable is set to false automatically.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++output
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++bool
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++autoReset is true per default
++)))
++
++
++
  ----
  == Using the Remote Console (RConsole) ==
@@ -146,9 +146,48 @@
  )))|(((
  Go to the project properties and switch to Java 7 (Right Click on project > Properties > Java Compiler > Compiler compliance level)
  )))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++Uploading to the brick does not respond
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++Compilation and uploading works from command line but not when using KIELER
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++This Java instance does not support a 32-bit JVM. Please install the desired version.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
++Brick does nothing after program finished and prints "Program exit"
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))
------
--
++
++input

Confluence.Code.ConfluencePageClass[0]

Id

@@ -1,1 +1,1 @@
--14516277
++15532304

URL

@@ -1,1 +1,1 @@
--https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/14516277/LEGO Mindstorms with leJOS and SCCharts
++https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/15532304/LEGO Mindstorms with leJOS and SCCharts

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