Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17
<
From version < 32.1 >
edited by aas2
on 2016/01/19 15:23
To version < 34.1 >
edited by aas2
on 2016/02/23 13:34
>
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Content
... ... @@ -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  
... ... @@ -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 +130,468 @@
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 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 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 / actuators 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 +)))|=(% colspan="1" %)(% colspan="1" %)
153 +(((
154 +Defined in File
155 +)))
156 +|(% colspan="1" %)(% colspan="1" %)
157 +(((
158 +**Clock,** milliseconds
159 +)))|(% colspan="1" %)(% colspan="1" %)
160 +(((
161 +Sets a variable to true if the time in milliseconds passed
162 +)))|(% colspan="1" %)(% colspan="1" %)
163 +(((
164 +input
165 +)))|(% colspan="1" %)(% colspan="1" %)
166 +(((
167 +bool
168 +)))|(% colspan="1" %)(% colspan="1" %)
169 +(((
170 +See also ResetClock.
171 +)))|(% colspan="1" %)(% colspan="1" %)
172 +(((
173 +timing.ftl
174 +)))
175 +|(% colspan="1" %)(% colspan="1" %)
176 +(((
177 +**ResetClock,** clockVariableName, autoFalse
178 +)))|(% colspan="1" %)(% colspan="1" %)
179 +(((
180 +Resets a clock, such that the full time intervall of the clock has to elapse, before the clock will be set to true again.
181 +
182 +If autoFalse is true, the reset variable will be set to false automatically.
183 +)))|(% colspan="1" %)(% colspan="1" %)
184 +(((
185 +output
186 +)))|(% colspan="1" %)(% colspan="1" %)
187 +(((
188 +bool
189 +)))|(% colspan="1" %)(% colspan="1" %)
190 +(((
191 +autoFalse is true per default.
192 +)))|(% colspan="1" %)(% colspan="1" %)
193 +(((
194 +timing.ftl
195 +)))
196 +|(% colspan="1" %)(% colspan="1" %)
197 +(((
198 +**Time**
199 +)))|(% colspan="1" %)(% colspan="1" %)
200 +(((
201 +Reads the elapsed time since program start
202 +)))|(% colspan="1" %)(% colspan="1" %)
203 +(((
204 +input
205 +)))|(% colspan="1" %)(% colspan="1" %)
206 +(((
207 +int
208 +)))|(% colspan="1" %)(% colspan="1" %)
209 +(((
210 +
211 +)))|(% colspan="1" %)(% colspan="1" %)
212 +(((
213 +timing.ftl
214 +)))
215 +|(% colspan="1" %)(% colspan="1" %)
216 +(((
217 +**TickDuration,** targetInMilliseconds
218 +)))|(% colspan="1" %)(% colspan="1" %)
219 +(((
220 +Delays the execution until the tick loop takes at least as long as the given target duration.
221 +
222 +The input variable is set to the actual tick loop duration.
223 +)))|(% colspan="1" %)(% colspan="1" %)
224 +(((
225 +input
226 +)))|(% colspan="1" %)(% colspan="1" %)
227 +(((
228 +int
229 +)))|(% colspan="1" %)(% colspan="1" %)
230 +(((
231 +Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
232 +)))|(% colspan="1" %)(% colspan="1" %)
233 +(((
234 +timing.ftl
235 +)))
236 +|(% colspan="1" %)(% colspan="1" %)
237 +(((
238 +**Sleep**
239 +)))|(% colspan="1" %)(% colspan="1" %)
240 +(((
241 +Lets the current thread sleep the time in milliseconds of the variable value.
242 +)))|(% colspan="1" %)(% colspan="1" %)
243 +(((
244 +output
245 +)))|(% colspan="1" %)(% colspan="1" %)
246 +(((
247 +int
248 +)))|(% colspan="1" %)(% colspan="1" %)
249 +(((
250 +
251 +)))|(% colspan="1" %)(% colspan="1" %)
252 +(((
253 +timing.ftl
254 +)))
255 +|(% colspan="1" %)(% colspan="1" %)
256 +(((
257 +**Print,** autoReset
258 +)))|(% colspan="1" %)(% colspan="1" %)
259 +(((
260 +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
261 +)))|(% colspan="1" %)(% colspan="1" %)
262 +(((
263 +output
264 +)))|(% colspan="1" %)(% colspan="1" %)
265 +(((
266 +string
267 +)))|(% colspan="1" %)(% colspan="1" %)
268 +(((
269 +autoReset is true per default.
270 +)))|(% colspan="1" %)(% colspan="1" %)
271 +(((
272 +print.ftl
273 +)))
274 +|(% colspan="1" %)(% colspan="1" %)
275 +(((
276 +**DrawString,** x, y
277 +)))|(% colspan="1" %)(% colspan="1" %)
278 +(((
279 +Prints a string to the given x and y coordinate on the LCD.
280 +)))|(% colspan="1" %)(% colspan="1" %)
281 +(((
282 +output
283 +)))|(% colspan="1" %)(% colspan="1" %)
284 +(((
285 +string
286 +)))|(% colspan="1" %)(% colspan="1" %)
287 +(((
288 +
289 +)))|(% colspan="1" %)(% colspan="1" %)
290 +(((
291 +print.ftl
292 +)))
293 +|(% colspan="1" %)(% colspan="1" %)
294 +(((
295 +**Button, **buttonId
296 +)))|(% colspan="1" %)(% colspan="1" %)
297 +(((
298 +Sets a variable to true iff the button on the Mindstorms device is pressed.
299 +)))|(% colspan="1" %)(% colspan="1" %)
300 +(((
301 +input
302 +)))|(% colspan="1" %)(% colspan="1" %)
303 +(((
304 +bool
305 +)))|(% colspan="1" %)(% colspan="1" %)
306 +(((
307 +The buttonId has to be one of ENTER, LEFT, RIGHT
308 +)))|(% colspan="1" %)(% colspan="1" %)
309 +(((
310 +touch_and_buttons.ftl
311 +)))
312 +|(% colspan="1" %)(% colspan="1" %)
313 +(((
314 +**TouchSensor**, port
315 +)))|(% colspan="1" %)(% colspan="1" %)
316 +(((
317 +Sets a variable to true iff the touch sensor on the given port is pressed.
318 +)))|(% colspan="1" %)(% colspan="1" %)
319 +(((
320 +input
321 +)))|(% colspan="1" %)(% colspan="1" %)
322 +(((
323 +bool
324 +)))|(% colspan="1" %)(% colspan="1" %)
325 +(((
326 +
327 +)))|(% colspan="1" %)(% colspan="1" %)
328 +(((
329 +touch_and_buttons.ftl
330 +)))
331 +|(% colspan="1" %)(% colspan="1" %)
332 +(((
333 +**LightSensor,** port, percentValue
334 +)))|(% colspan="1" %)(% colspan="1" %)
335 +(((
336 +Reads  the value of a light sensor.
337 +
338 +If percentValue is true, the a percent value is retured, based on the light sensor calibration.
339 +)))|(% colspan="1" %)(% colspan="1" %)
340 +(((
341 +input
342 +)))|(% colspan="1" %)(% colspan="1" %)
343 +(((
344 +int
345 +)))|(% colspan="1" %)(% colspan="1" %)
346 +(((
347 +percentValue is not available on EV3
348 +)))|(% colspan="1" %)(% colspan="1" %)
349 +(((
350 +light.ftl
351 +)))
352 +|(% colspan="1" %)(% colspan="1" %)
353 +(((
354 +**CalibrateLightSensor,** port, signal
355 +)))|(% colspan="1" %)(% colspan="1" %)
356 +(((
357 +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.
358 +)))|(% colspan="1" %)(% colspan="1" %)
359 +(((
360 +output
361 +)))|(% colspan="1" %)(% colspan="1" %)
362 +(((
363 +bool
364 +)))|(% colspan="1" %)(% colspan="1" %)
365 +(((
366 +signal has to be one of High, Low
367 +)))|(% colspan="1" %)(% colspan="1" %)
368 +(((
369 +light.ftl
370 +)))
371 +|(% colspan="1" %)(% colspan="1" %)
372 +(((
373 +**Floodlight,** port
374 +)))|(% colspan="1" %)(% colspan="1" %)
375 +(((
376 +Reads / Sets the state of the red lamp of the light sensor.
377 +)))|(% colspan="1" %)(% colspan="1" %)
378 +(((
379 +input
380 +
381 +output
382 +)))|(% colspan="1" %)(% colspan="1" %)
383 +(((
384 +bool
385 +)))|(% colspan="1" %)(% colspan="1" %)
386 +(((
387 +
388 +)))|(% colspan="1" %)(% colspan="1" %)
389 +(((
390 +light.ftl
391 +)))
392 +|(% colspan="1" %)(% colspan="1" %)
393 +(((
394 +**RCXLamp,** port
395 +)))|(% colspan="1" %)(% colspan="1" %)
396 +(((
397 +Turns an RCX lamp on (variable is true) or off (variable is false)
398 +)))|(% colspan="1" %)(% colspan="1" %)
399 +(((
400 +output
401 +)))|(% colspan="1" %)(% colspan="1" %)
402 +(((
403 +bool
404 +)))|(% colspan="1" %)(% colspan="1" %)
405 +(((
406 +
407 +)))|(% colspan="1" %)(% colspan="1" %)
408 +(((
409 +light.ftl
410 +)))
411 +|(% colspan="1" %)(% colspan="1" %)
412 +(((
413 +**MotorSpeed,** port, brake
414 +)))|(% colspan="1" %)(% colspan="1" %)
415 +(((
416 +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).
417 +)))|(% colspan="1" %)(% colspan="1" %)
418 +(((
419 +input
420 +
421 +output
422 +)))|(% colspan="1" %)(% colspan="1" %)
423 +(((
424 +int
425 +)))|(% colspan="1" %)(% colspan="1" %)
426 +(((
427 +brake is true per default.
428 +)))|(% colspan="1" %)(% colspan="1" %)
429 +(((
430 +motor.ftl
431 +)))
432 +|(% colspan="1" %)(% colspan="1" %)
433 +(((
434 +**MotorIsMoving,** port
435 +)))|(% colspan="1" %)(% colspan="1" %)
436 +(((
437 +Sets a variable to true iff the motor on the given port is moving.
438 +)))|(% colspan="1" %)(% colspan="1" %)
439 +(((
440 +input
441 +)))|(% colspan="1" %)(% colspan="1" %)
442 +(((
443 +bool
444 +)))|(% colspan="1" %)(% colspan="1" %)
445 +(((
446 +
447 +)))|(% colspan="1" %)(% colspan="1" %)
448 +(((
449 +motor.ftl
450 +)))
451 +|(% colspan="1" %)(% colspan="1" %)
452 +(((
453 +**MotorRotation,** port
454 +)))|(% colspan="1" %)(% colspan="1" %)
455 +(((
456 +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.
457 +)))|(% colspan="1" %)(% colspan="1" %)
458 +(((
459 +output
460 +)))|(% colspan="1" %)(% colspan="1" %)
461 +(((
462 +int
463 +)))|(% colspan="1" %)(% colspan="1" %)
464 +(((
465 +
466 +)))|(% colspan="1" %)(% colspan="1" %)
467 +(((
468 +motor.ftl
469 +)))
470 +|(% colspan="1" %)(% colspan="1" %)
471 +(((
472 +**Beep,** volume
473 +)))|(% colspan="1" %)(% colspan="1" %)
474 +(((
475 +Plays a beep sound as long as the variable is true.
476 +)))|(% colspan="1" %)(% colspan="1" %)
477 +(((
478 +output
479 +)))|(% colspan="1" %)(% colspan="1" %)
480 +(((
481 +bool
482 +)))|(% colspan="1" %)(% colspan="1" %)
483 +(((
484 +default volume is 10
485 +)))|(% colspan="1" %)(% colspan="1" %)
486 +(((
487 +sound.ftl
488 +)))
489 +|(% colspan="1" %)(% colspan="1" %)
490 +(((
491 +**Buzz,** volume
492 +)))|(% colspan="1" %)(% colspan="1" %)
493 +(((
494 +Plays a buzz sound as long as the variable is true.
495 +)))|(% colspan="1" %)(% colspan="1" %)
496 +(((
497 +output
498 +)))|(% colspan="1" %)(% colspan="1" %)
499 +(((
500 +bool
501 +)))|(% colspan="1" %)(% colspan="1" %)
502 +(((
503 +default volume is 10
504 +)))|(% colspan="1" %)(% colspan="1" %)
505 +(((
506 +sound.ftl
507 +)))
508 +|(% colspan="1" %)(% colspan="1" %)
509 +(((
510 +**BeepSequence,** direction, volume
511 +)))|(% colspan="1" %)(% colspan="1" %)
512 +(((
513 +Plays a sequence of tones in either ascending or descending tone frequency if the variable is true.
514 +
515 +The variable is set to false automatically.
516 +)))|(% colspan="1" %)(% colspan="1" %)
517 +(((
518 +output
519 +)))|(% colspan="1" %)(% colspan="1" %)
520 +(((
521 +bool
522 +)))|(% colspan="1" %)(% colspan="1" %)
523 +(((
524 +direction has to be one of Up, Down
525 +
526 +default volume is 10
527 +)))|(% colspan="1" %)(% colspan="1" %)
528 +(((
529 +sound.ftl
530 +)))
531 +|(% colspan="1" %)(% colspan="1" %)
532 +(((
533 +**UltrasonicSensor,** port
534 +)))|(% colspan="1" %)(% colspan="1" %)
535 +(((
536 +Reads the distance that an ultrasonic sensor measures.
537 +)))|(% colspan="1" %)(% colspan="1" %)
538 +(((
539 +input
540 +)))|(% colspan="1" %)(% colspan="1" %)
541 +(((
542 +int
543 +)))|(% colspan="1" %)(% colspan="1" %)
544 +(((
545 +
546 +)))|(% colspan="1" %)(% colspan="1" %)
547 +(((
548 +ultrasonic.ftl
549 +)))
550 +|(% colspan="1" %)(% colspan="1" %)
551 +(((
552 +**Gyro,** port, mode
553 +)))|(% colspan="1" %)(% colspan="1" %)
554 +(((
555 +Reads the value of a gyroscope.
556 +)))|(% colspan="1" %)(% colspan="1" %)
557 +(((
558 +input
559 +)))|(% colspan="1" %)(% colspan="1" %)
560 +(((
561 +int
562 +)))|(% colspan="1" %)(% colspan="1" %)
563 +(((
564 +Not available on NXT
565 +
566 +mode hat to be one of Angle, Rate
567 +)))|(% colspan="1" %)(% colspan="1" %)
568 +(((
569 +gyro.ftl
570 +)))
571 +|(% colspan="1" %)(% colspan="1" %)
572 +(((
573 +**CalibrateGyro,** port, autoReset
574 +)))|(% colspan="1" %)(% colspan="1" %)
575 +(((
576 +Resets a gyroscope if the variable is true.
577 +
578 +If autoReset is true, the variable is set to false automatically.
579 +)))|(% colspan="1" %)(% colspan="1" %)
580 +(((
581 +output
582 +)))|(% colspan="1" %)(% colspan="1" %)
583 +(((
584 +bool
585 +)))|(% colspan="1" %)(% colspan="1" %)
586 +(((
587 +autoReset is true per default
588 +)))|(% colspan="1" %)(% colspan="1" %)
589 +(((
590 +gyro.ftl
591 +)))
592 +
593 +
594 +
133 133  ----
134 134  
135 135  == Using the Remote Console (RConsole) ==
... ... @@ -209,3 +209,5 @@
209 209  
210 210  
211 211  
674 +
675 +input
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -15532230
1 +18776104
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/15532230/LEGO Mindstorms with leJOS and SCCharts
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/18776104/LEGO Mindstorms with leJOS and SCCharts

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