Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17
<
From version < 31.1 >
edited by aas2
on 2016/01/05 15:02
To version < 33.1 >
edited by aas2
on 2016/02/15 16:25
>
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... ... @@ -40,7 +40,7 @@
40 40  
41 41  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.
42 42  
43 -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, which seems to be not 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"]]).
43 +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"]]).
44 44  
45 45  ----
46 46  
... ... @@ -57,7 +57,7 @@
57 57  
58 58  Download and unpack the nightly build of KIELER for your OS. It is available at the [[doc:Downloads]] page.\\
59 59  
60 -**Note:** Java 1.8 is needed on all operating systems, with Java 1.7 not all plugins of KIELER will be loaded. **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.
60 +**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.
61 61  
62 62  === The Eclipse plugin for leJOS ===
63 63  
... ... @@ -75,13 +75,13 @@
75 75  
76 76  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**.
77 77  
78 -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).
78 +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).
79 79  
80 80  ----
81 81  
82 82  == Creating an Example Project ==
83 83  
84 -The following shows how to create a project, that will turn on a light if a button is pressed.
84 +The following shows how to create a project, which will turn on a light if a button is pressed.
85 85  
86 86  === Create a new project: ===
87 87  
... ... @@ -94,7 +94,7 @@
94 94  
95 95  Change the contents of the model file to the following code and save it.
96 96  
97 -{{code title="Floodlight.sct" theme="Eclipse" language="sct"}}
97 +{{code language="sct" theme="Eclipse" title="Floodlight.sct"}}
98 98  scchart Flashlight {
99 99  
100 100   @Wrapper TouchSensor, S4
... ... @@ -115,7 +115,7 @@
115 115  
116 116  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.
117 117  
118 -The available wrapper code snippets are defined in the //snippets// directory of the project in ftl files (FreeMarker template files).
118 +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.
119 119  
120 120  **Note:** The Floodlight of the EV3 has a pretty high latency when switching between on and off.
121 121  
... ... @@ -130,6 +130,399 @@
130 130  
131 131  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"]].
132 132  
133 +=== Available Wrapper Code Snippets ===
134 +
135 +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.
136 +
137 +For sensors, the port has to be on of S1, S2, S3, S4.
138 +
139 +For motors the port has to be one of A, B, C, D.
140 +
141 +|=(((
142 +Snippet Name and Parameters
143 +)))|=(((
144 +Description
145 +)))|=(((
146 +Use on
147 +)))|=(% colspan="1" %)(% colspan="1" %)
148 +(((
149 +Variable type
150 +)))|=(((
151 +Remark
152 +)))
153 +|(% colspan="1" %)(% colspan="1" %)
154 +(((
155 +**Clock,** milliseconds
156 +)))|(% colspan="1" %)(% colspan="1" %)
157 +(((
158 +Sets a variable to true if the time in milliseconds passed
159 +)))|(% colspan="1" %)(% colspan="1" %)
160 +(((
161 +input
162 +)))|(% colspan="1" %)(% colspan="1" %)
163 +(((
164 +bool
165 +)))|(% colspan="1" %)(% colspan="1" %)
166 +(((
167 +See also ResetClock.
168 +)))
169 +|(% colspan="1" %)(% colspan="1" %)
170 +(((
171 +**ResetClock,** clockVariableName, autoFalse
172 +)))|(% colspan="1" %)(% colspan="1" %)
173 +(((
174 +Resets a clock, such that the full time intervall of the clock has to elapse, before the clock will be set to true again.
175 +
176 +If autoFalse is true, the reset variable will be set to false automatically.
177 +)))|(% colspan="1" %)(% colspan="1" %)
178 +(((
179 +output
180 +)))|(% colspan="1" %)(% colspan="1" %)
181 +(((
182 +bool
183 +)))|(% colspan="1" %)(% colspan="1" %)
184 +(((
185 +autoFalse is true per default.
186 +)))
187 +|(% colspan="1" %)(% colspan="1" %)
188 +(((
189 +**Time**
190 +)))|(% colspan="1" %)(% colspan="1" %)
191 +(((
192 +Reads the elapsed time since program start
193 +)))|(% colspan="1" %)(% colspan="1" %)
194 +(((
195 +input
196 +)))|(% colspan="1" %)(% colspan="1" %)
197 +(((
198 +int
199 +)))|(% colspan="1" %)(% colspan="1" %)
200 +(((
201 +
202 +)))
203 +|(% colspan="1" %)(% colspan="1" %)
204 +(((
205 +**TickDuration,** targetInMilliseconds
206 +)))|(% colspan="1" %)(% colspan="1" %)
207 +(((
208 +Delays the execution until the tick loop takes at least as long as the given target duration.
209 +
210 +The input variable is set to the actual tick loop duration.
211 +)))|(% colspan="1" %)(% colspan="1" %)
212 +(((
213 +input
214 +)))|(% colspan="1" %)(% colspan="1" %)
215 +(((
216 +int
217 +)))|(% colspan="1" %)(% colspan="1" %)
218 +(((
219 +Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
220 +)))
221 +|(% colspan="1" %)(% colspan="1" %)
222 +(((
223 +**Sleep**
224 +)))|(% colspan="1" %)(% colspan="1" %)
225 +(((
226 +Lets the current thread sleep the time in milliseconds of the variable value.
227 +)))|(% colspan="1" %)(% colspan="1" %)
228 +(((
229 +output
230 +)))|(% colspan="1" %)(% colspan="1" %)
231 +(((
232 +int
233 +)))|(% colspan="1" %)(% colspan="1" %)
234 +(((
235 +
236 +)))
237 +|(% colspan="1" %)(% colspan="1" %)
238 +(((
239 +**Print,** autoReset
240 +)))|(% colspan="1" %)(% colspan="1" %)
241 +(((
242 +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
243 +)))|(% colspan="1" %)(% colspan="1" %)
244 +(((
245 +output
246 +)))|(% colspan="1" %)(% colspan="1" %)
247 +(((
248 +string
249 +)))|(% colspan="1" %)(% colspan="1" %)
250 +(((
251 +autoReset is true per default.
252 +)))
253 +|(% colspan="1" %)(% colspan="1" %)
254 +(((
255 +**DrawString,** x, y
256 +)))|(% colspan="1" %)(% colspan="1" %)
257 +(((
258 +Prints a string to the given x and y coordinate on the LCD.
259 +)))|(% colspan="1" %)(% colspan="1" %)
260 +(((
261 +output
262 +)))|(% colspan="1" %)(% colspan="1" %)
263 +(((
264 +string
265 +)))|(% colspan="1" %)(% colspan="1" %)
266 +(((
267 +
268 +)))
269 +|(% colspan="1" %)(% colspan="1" %)
270 +(((
271 +**Button, **buttonId
272 +)))|(% colspan="1" %)(% colspan="1" %)
273 +(((
274 +Sets a variable to true iff the button on the Mindstorms device is pressed.
275 +)))|(% colspan="1" %)(% colspan="1" %)
276 +(((
277 +input
278 +)))|(% colspan="1" %)(% colspan="1" %)
279 +(((
280 +bool
281 +)))|(% colspan="1" %)(% colspan="1" %)
282 +(((
283 +The buttonId has to be one of ENTER, LEFT, RIGHT
284 +)))
285 +|(% colspan="1" %)(% colspan="1" %)
286 +(((
287 +**TouchSensor**, port
288 +)))|(% colspan="1" %)(% colspan="1" %)
289 +(((
290 +Sets a variable to true iff the touch sensor on the given port is pressed.
291 +)))|(% colspan="1" %)(% colspan="1" %)
292 +(((
293 +input
294 +)))|(% colspan="1" %)(% colspan="1" %)
295 +(((
296 +bool
297 +)))|(% colspan="1" %)(% colspan="1" %)
298 +(((
299 +
300 +)))
301 +|(% colspan="1" %)(% colspan="1" %)
302 +(((
303 +**LightSensor,** port, percentValue
304 +)))|(% colspan="1" %)(% colspan="1" %)
305 +(((
306 +Reads  the value of a light sensor.
307 +
308 +If percentValue is true, the a percent value is retured, based on the light sensor calibration.
309 +)))|(% colspan="1" %)(% colspan="1" %)
310 +(((
311 +input
312 +)))|(% colspan="1" %)(% colspan="1" %)
313 +(((
314 +int
315 +)))|(% colspan="1" %)(% colspan="1" %)
316 +(((
317 +percentValue is not available on EV3
318 +)))
319 +|(% colspan="1" %)(% colspan="1" %)
320 +(((
321 +**CalibrateLightSensor,** port, signal
322 +)))|(% colspan="1" %)(% colspan="1" %)
323 +(((
324 +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.
325 +)))|(% colspan="1" %)(% colspan="1" %)
326 +(((
327 +output
328 +)))|(% colspan="1" %)(% colspan="1" %)
329 +(((
330 +bool
331 +)))|(% colspan="1" %)(% colspan="1" %)
332 +(((
333 +signal has to be one of High, Low
334 +)))
335 +|(% colspan="1" %)(% colspan="1" %)
336 +(((
337 +**Floodlight,** port
338 +)))|(% colspan="1" %)(% colspan="1" %)
339 +(((
340 +Reads / Sets the state of the red lamp of the light sensor.
341 +)))|(% colspan="1" %)(% colspan="1" %)
342 +(((
343 +input
344 +
345 +output
346 +)))|(% colspan="1" %)(% colspan="1" %)
347 +(((
348 +bool
349 +)))|(% colspan="1" %)(% colspan="1" %)
350 +(((
351 +
352 +)))
353 +|(% colspan="1" %)(% colspan="1" %)
354 +(((
355 +**RCXLamp,** port
356 +)))|(% colspan="1" %)(% colspan="1" %)
357 +(((
358 +Turns an RCX lamp on (variable is true) or off (variable is false)
359 +)))|(% colspan="1" %)(% colspan="1" %)
360 +(((
361 +output
362 +)))|(% colspan="1" %)(% colspan="1" %)
363 +(((
364 +bool
365 +)))|(% colspan="1" %)(% colspan="1" %)
366 +(((
367 +
368 +)))
369 +|(% colspan="1" %)(% colspan="1" %)
370 +(((
371 +**MotorSpeed,** port, brake
372 +)))|(% colspan="1" %)(% colspan="1" %)
373 +(((
374 +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).
375 +)))|(% colspan="1" %)(% colspan="1" %)
376 +(((
377 +input
378 +
379 +output
380 +)))|(% colspan="1" %)(% colspan="1" %)
381 +(((
382 +int
383 +)))|(% colspan="1" %)(% colspan="1" %)
384 +(((
385 +brake is true per default.
386 +)))
387 +|(% colspan="1" %)(% colspan="1" %)
388 +(((
389 +**MotorIsMoving,** port
390 +)))|(% colspan="1" %)(% colspan="1" %)
391 +(((
392 +Sets a variable to true iff the motor on the given port is moving.
393 +)))|(% colspan="1" %)(% colspan="1" %)
394 +(((
395 +input
396 +)))|(% colspan="1" %)(% colspan="1" %)
397 +(((
398 +bool
399 +)))|(% colspan="1" %)(% colspan="1" %)
400 +(((
401 +
402 +)))
403 +|(% colspan="1" %)(% colspan="1" %)
404 +(((
405 +**MotorRotation,** port
406 +)))|(% colspan="1" %)(% colspan="1" %)
407 +(((
408 +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.
409 +)))|(% colspan="1" %)(% colspan="1" %)
410 +(((
411 +output
412 +)))|(% colspan="1" %)(% colspan="1" %)
413 +(((
414 +int
415 +)))|(% colspan="1" %)(% colspan="1" %)
416 +(((
417 +
418 +)))
419 +|(% colspan="1" %)(% colspan="1" %)
420 +(((
421 +**Beep,** volume
422 +)))|(% colspan="1" %)(% colspan="1" %)
423 +(((
424 +Plays a beep sound as long as the variable is true.
425 +)))|(% colspan="1" %)(% colspan="1" %)
426 +(((
427 +output
428 +)))|(% colspan="1" %)(% colspan="1" %)
429 +(((
430 +bool
431 +)))|(% colspan="1" %)(% colspan="1" %)
432 +(((
433 +default volume is 10
434 +)))
435 +|(% colspan="1" %)(% colspan="1" %)
436 +(((
437 +**Buzz,** volume
438 +)))|(% colspan="1" %)(% colspan="1" %)
439 +(((
440 +Plays a buzz sound as long as the variable is true.
441 +)))|(% colspan="1" %)(% colspan="1" %)
442 +(((
443 +output
444 +)))|(% colspan="1" %)(% colspan="1" %)
445 +(((
446 +bool
447 +)))|(% colspan="1" %)(% colspan="1" %)
448 +(((
449 +default volume is 10
450 +)))
451 +|(% colspan="1" %)(% colspan="1" %)
452 +(((
453 +**BeepSequence,** direction, volume
454 +)))|(% colspan="1" %)(% colspan="1" %)
455 +(((
456 +Plays a sequence of tones in either ascending or descending tone frequency if the variable is true.
457 +
458 +The variable is set to false automatically.
459 +)))|(% colspan="1" %)(% colspan="1" %)
460 +(((
461 +output
462 +)))|(% colspan="1" %)(% colspan="1" %)
463 +(((
464 +bool
465 +)))|(% colspan="1" %)(% colspan="1" %)
466 +(((
467 +direction has to be one of Up, Down
468 +
469 +default volume is 10
470 +)))
471 +|(% colspan="1" %)(% colspan="1" %)
472 +(((
473 +**UltrasonicSensor,** port
474 +)))|(% colspan="1" %)(% colspan="1" %)
475 +(((
476 +Reads the distance that an ultrasonic sensor measures.
477 +)))|(% colspan="1" %)(% colspan="1" %)
478 +(((
479 +input
480 +)))|(% colspan="1" %)(% colspan="1" %)
481 +(((
482 +int
483 +)))|(% colspan="1" %)(% colspan="1" %)
484 +(((
485 +
486 +)))
487 +|(% colspan="1" %)(% colspan="1" %)
488 +(((
489 +**Gyro,** port, mode
490 +)))|(% colspan="1" %)(% colspan="1" %)
491 +(((
492 +Reads the value of a gyroscope.
493 +)))|(% colspan="1" %)(% colspan="1" %)
494 +(((
495 +input
496 +)))|(% colspan="1" %)(% colspan="1" %)
497 +(((
498 +int
499 +)))|(% colspan="1" %)(% colspan="1" %)
500 +(((
501 +Not available on NXT
502 +
503 +mode hat to be one of Angle, Rate
504 +)))
505 +|(% colspan="1" %)(% colspan="1" %)
506 +(((
507 +**CalibrateGyro,** port, autoReset
508 +)))|(% colspan="1" %)(% colspan="1" %)
509 +(((
510 +Resets a gyroscope if the variable is true.
511 +
512 +If autoReset is true, the variable is set to false automatically.
513 +)))|(% colspan="1" %)(% colspan="1" %)
514 +(((
515 +output
516 +)))|(% colspan="1" %)(% colspan="1" %)
517 +(((
518 +bool
519 +)))|(% colspan="1" %)(% colspan="1" %)
520 +(((
521 +autoReset is true per default
522 +)))
523 +
524 +
525 +
133 133  ----
134 134  
135 135  == Using the Remote Console (RConsole) ==
... ... @@ -192,7 +192,22 @@
192 192  (((
193 193  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.
194 194  )))
588 +|(% colspan="1" %)(% colspan="1" %)
589 +(((
590 +Brick does nothing after program finished and prints "Program exit"
591 +)))|(% colspan="1" %)(% colspan="1" %)
592 +(((
593 +
594 +)))|(% colspan="1" %)(% colspan="1" %)
595 +(((
596 +A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
597 +)))|(% colspan="1" %)(% colspan="1" %)
598 +(((
599 +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.
600 +)))
195 195  
196 196  
197 197  
198 198  
605 +
606 +input
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -15532038
1 +15532304
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/15532038/LEGO Mindstorms with leJOS and SCCharts
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/15532304/LEGO Mindstorms with leJOS and SCCharts

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