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 < 35.1 >
edited by aas2
on 2016/08/01 12:52
>
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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 ==
... ... @@ -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"]]).
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"]]).
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.
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.
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).
84 +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.
90 +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).
124 +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 +130,469 @@
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  
139 +=== Available Wrapper Code Snippets ===
140 +
141 +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.
142 +
143 +For sensors, the port has to be on of S1, S2, S3, S4.
144 +
145 +For motors / actuators the port has to be one of A, B, C, D.
146 +
147 +(% class="wrapped" %)
148 +|=(((
149 +Snippet Name and Parameters
150 +)))|=(((
151 +Description
152 +)))|=(((
153 +Use on
154 +)))|=(% colspan="1" %)(% colspan="1" %)
155 +(((
156 +Variable type
157 +)))|=(((
158 +Remark
159 +)))|=(% colspan="1" %)(% colspan="1" %)
160 +(((
161 +Defined in File
162 +)))
163 +|(% colspan="1" %)(% colspan="1" %)
164 +(((
165 +**Clock,** milliseconds
166 +)))|(% colspan="1" %)(% colspan="1" %)
167 +(((
168 +Sets a variable to true if the time in milliseconds passed
169 +)))|(% colspan="1" %)(% colspan="1" %)
170 +(((
171 +input
172 +)))|(% colspan="1" %)(% colspan="1" %)
173 +(((
174 +bool
175 +)))|(% colspan="1" %)(% colspan="1" %)
176 +(((
177 +See also ResetClock.
178 +)))|(% colspan="1" %)(% colspan="1" %)
179 +(((
180 +timing.ftl
181 +)))
182 +|(% colspan="1" %)(% colspan="1" %)
183 +(((
184 +**ResetClock,** clockVariableName, autoFalse
185 +)))|(% colspan="1" %)(% colspan="1" %)
186 +(((
187 +Resets a clock, such that the full time intervall of the clock has to elapse, before the clock will be set to true again.
188 +
189 +If autoFalse is true, the reset variable will be set to false automatically.
190 +)))|(% colspan="1" %)(% colspan="1" %)
191 +(((
192 +output
193 +)))|(% colspan="1" %)(% colspan="1" %)
194 +(((
195 +bool
196 +)))|(% colspan="1" %)(% colspan="1" %)
197 +(((
198 +autoFalse is true per default.
199 +)))|(% colspan="1" %)(% colspan="1" %)
200 +(((
201 +timing.ftl
202 +)))
203 +|(% colspan="1" %)(% colspan="1" %)
204 +(((
205 +**Time**
206 +)))|(% colspan="1" %)(% colspan="1" %)
207 +(((
208 +Reads the elapsed time since program start
209 +)))|(% colspan="1" %)(% colspan="1" %)
210 +(((
211 +input
212 +)))|(% colspan="1" %)(% colspan="1" %)
213 +(((
214 +int
215 +)))|(% colspan="1" %)(% colspan="1" %)
216 +(((
217 +
218 +)))|(% colspan="1" %)(% colspan="1" %)
219 +(((
220 +timing.ftl
221 +)))
222 +|(% colspan="1" %)(% colspan="1" %)
223 +(((
224 +**TickDuration,** targetInMilliseconds
225 +)))|(% colspan="1" %)(% colspan="1" %)
226 +(((
227 +Delays the execution until the tick loop takes at least as long as the given target duration.
228 +
229 +The input variable is set to the actual tick loop duration.
230 +)))|(% colspan="1" %)(% colspan="1" %)
231 +(((
232 +input
233 +)))|(% colspan="1" %)(% colspan="1" %)
234 +(((
235 +int
236 +)))|(% colspan="1" %)(% colspan="1" %)
237 +(((
238 +Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
239 +)))|(% colspan="1" %)(% colspan="1" %)
240 +(((
241 +timing.ftl
242 +)))
243 +|(% colspan="1" %)(% colspan="1" %)
244 +(((
245 +**Sleep**
246 +)))|(% colspan="1" %)(% colspan="1" %)
247 +(((
248 +Lets the current thread sleep the time in milliseconds of the variable value.
249 +)))|(% colspan="1" %)(% colspan="1" %)
250 +(((
251 +output
252 +)))|(% colspan="1" %)(% colspan="1" %)
253 +(((
254 +int
255 +)))|(% colspan="1" %)(% colspan="1" %)
256 +(((
257 +
258 +)))|(% colspan="1" %)(% colspan="1" %)
259 +(((
260 +timing.ftl
261 +)))
262 +|(% colspan="1" %)(% colspan="1" %)
263 +(((
264 +**Print,** autoReset
265 +)))|(% colspan="1" %)(% colspan="1" %)
266 +(((
267 +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
268 +)))|(% colspan="1" %)(% colspan="1" %)
269 +(((
270 +output
271 +)))|(% colspan="1" %)(% colspan="1" %)
272 +(((
273 +string
274 +)))|(% colspan="1" %)(% colspan="1" %)
275 +(((
276 +autoReset is true per default.
277 +)))|(% colspan="1" %)(% colspan="1" %)
278 +(((
279 +print.ftl
280 +)))
281 +|(% colspan="1" %)(% colspan="1" %)
282 +(((
283 +**DrawString,** x, y
284 +)))|(% colspan="1" %)(% colspan="1" %)
285 +(((
286 +Prints a string to the given x and y coordinate on the LCD.
287 +)))|(% colspan="1" %)(% colspan="1" %)
288 +(((
289 +output
290 +)))|(% colspan="1" %)(% colspan="1" %)
291 +(((
292 +string
293 +)))|(% colspan="1" %)(% colspan="1" %)
294 +(((
295 +
296 +)))|(% colspan="1" %)(% colspan="1" %)
297 +(((
298 +print.ftl
299 +)))
300 +|(% colspan="1" %)(% colspan="1" %)
301 +(((
302 +**Button, **buttonId
303 +)))|(% colspan="1" %)(% colspan="1" %)
304 +(((
305 +Sets a variable to true iff the button on the Mindstorms device is pressed.
306 +)))|(% colspan="1" %)(% colspan="1" %)
307 +(((
308 +input
309 +)))|(% colspan="1" %)(% colspan="1" %)
310 +(((
311 +bool
312 +)))|(% colspan="1" %)(% colspan="1" %)
313 +(((
314 +The buttonId has to be one of ENTER, LEFT, RIGHT
315 +)))|(% colspan="1" %)(% colspan="1" %)
316 +(((
317 +touch_and_buttons.ftl
318 +)))
319 +|(% colspan="1" %)(% colspan="1" %)
320 +(((
321 +**TouchSensor**, port
322 +)))|(% colspan="1" %)(% colspan="1" %)
323 +(((
324 +Sets a variable to true iff the touch sensor on the given port is pressed.
325 +)))|(% colspan="1" %)(% colspan="1" %)
326 +(((
327 +input
328 +)))|(% colspan="1" %)(% colspan="1" %)
329 +(((
330 +bool
331 +)))|(% colspan="1" %)(% colspan="1" %)
332 +(((
333 +
334 +)))|(% colspan="1" %)(% colspan="1" %)
335 +(((
336 +touch_and_buttons.ftl
337 +)))
338 +|(% colspan="1" %)(% colspan="1" %)
339 +(((
340 +**LightSensor,** port, percentValue
341 +)))|(% colspan="1" %)(% colspan="1" %)
342 +(((
343 +Reads  the value of a light sensor.
344 +
345 +If percentValue is true, the a percent value is retured, based on the light sensor calibration.
346 +)))|(% colspan="1" %)(% colspan="1" %)
347 +(((
348 +input
349 +)))|(% colspan="1" %)(% colspan="1" %)
350 +(((
351 +int
352 +)))|(% colspan="1" %)(% colspan="1" %)
353 +(((
354 +percentValue is not available on EV3
355 +)))|(% colspan="1" %)(% colspan="1" %)
356 +(((
357 +light.ftl
358 +)))
359 +|(% colspan="1" %)(% colspan="1" %)
360 +(((
361 +**CalibrateLightSensor,** port, signal
362 +)))|(% colspan="1" %)(% colspan="1" %)
363 +(((
364 +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.
365 +)))|(% colspan="1" %)(% colspan="1" %)
366 +(((
367 +output
368 +)))|(% colspan="1" %)(% colspan="1" %)
369 +(((
370 +bool
371 +)))|(% colspan="1" %)(% colspan="1" %)
372 +(((
373 +signal has to be one of High, Low
374 +)))|(% colspan="1" %)(% colspan="1" %)
375 +(((
376 +light.ftl
377 +)))
378 +|(% colspan="1" %)(% colspan="1" %)
379 +(((
380 +**Floodlight,** port
381 +)))|(% colspan="1" %)(% colspan="1" %)
382 +(((
383 +Reads / Sets the state of the red lamp of the light sensor.
384 +)))|(% colspan="1" %)(% colspan="1" %)
385 +(((
386 +input
387 +
388 +output
389 +)))|(% colspan="1" %)(% colspan="1" %)
390 +(((
391 +bool
392 +)))|(% colspan="1" %)(% colspan="1" %)
393 +(((
394 +
395 +)))|(% colspan="1" %)(% colspan="1" %)
396 +(((
397 +light.ftl
398 +)))
399 +|(% colspan="1" %)(% colspan="1" %)
400 +(((
401 +**RCXLamp,** port
402 +)))|(% colspan="1" %)(% colspan="1" %)
403 +(((
404 +Turns an RCX lamp on (variable is true) or off (variable is false)
405 +)))|(% colspan="1" %)(% colspan="1" %)
406 +(((
407 +output
408 +)))|(% colspan="1" %)(% colspan="1" %)
409 +(((
410 +bool
411 +)))|(% colspan="1" %)(% colspan="1" %)
412 +(((
413 +
414 +)))|(% colspan="1" %)(% colspan="1" %)
415 +(((
416 +light.ftl
417 +)))
418 +|(% colspan="1" %)(% colspan="1" %)
419 +(((
420 +**MotorSpeed,** port, brake
421 +)))|(% colspan="1" %)(% colspan="1" %)
422 +(((
423 +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).
424 +)))|(% colspan="1" %)(% colspan="1" %)
425 +(((
426 +input
427 +
428 +output
429 +)))|(% colspan="1" %)(% colspan="1" %)
430 +(((
431 +int
432 +)))|(% colspan="1" %)(% colspan="1" %)
433 +(((
434 +brake is true per default.
435 +)))|(% colspan="1" %)(% colspan="1" %)
436 +(((
437 +motor.ftl
438 +)))
439 +|(% colspan="1" %)(% colspan="1" %)
440 +(((
441 +**MotorIsMoving,** port
442 +)))|(% colspan="1" %)(% colspan="1" %)
443 +(((
444 +Sets a variable to true iff the motor on the given port is moving.
445 +)))|(% colspan="1" %)(% colspan="1" %)
446 +(((
447 +input
448 +)))|(% colspan="1" %)(% colspan="1" %)
449 +(((
450 +bool
451 +)))|(% colspan="1" %)(% colspan="1" %)
452 +(((
453 +
454 +)))|(% colspan="1" %)(% colspan="1" %)
455 +(((
456 +motor.ftl
457 +)))
458 +|(% colspan="1" %)(% colspan="1" %)
459 +(((
460 +**MotorRotation,** port
461 +)))|(% colspan="1" %)(% colspan="1" %)
462 +(((
463 +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.
464 +)))|(% colspan="1" %)(% colspan="1" %)
465 +(((
466 +output
467 +)))|(% colspan="1" %)(% colspan="1" %)
468 +(((
469 +int
470 +)))|(% colspan="1" %)(% colspan="1" %)
471 +(((
472 +
473 +)))|(% colspan="1" %)(% colspan="1" %)
474 +(((
475 +motor.ftl
476 +)))
477 +|(% colspan="1" %)(% colspan="1" %)
478 +(((
479 +**Beep,** volume
480 +)))|(% colspan="1" %)(% colspan="1" %)
481 +(((
482 +Plays a beep sound as long as the variable is true.
483 +)))|(% colspan="1" %)(% colspan="1" %)
484 +(((
485 +output
486 +)))|(% colspan="1" %)(% colspan="1" %)
487 +(((
488 +bool
489 +)))|(% colspan="1" %)(% colspan="1" %)
490 +(((
491 +default volume is 10
492 +)))|(% colspan="1" %)(% colspan="1" %)
493 +(((
494 +sound.ftl
495 +)))
496 +|(% colspan="1" %)(% colspan="1" %)
497 +(((
498 +**Buzz,** volume
499 +)))|(% colspan="1" %)(% colspan="1" %)
500 +(((
501 +Plays a buzz sound as long as the variable is true.
502 +)))|(% colspan="1" %)(% colspan="1" %)
503 +(((
504 +output
505 +)))|(% colspan="1" %)(% colspan="1" %)
506 +(((
507 +bool
508 +)))|(% colspan="1" %)(% colspan="1" %)
509 +(((
510 +default volume is 10
511 +)))|(% colspan="1" %)(% colspan="1" %)
512 +(((
513 +sound.ftl
514 +)))
515 +|(% colspan="1" %)(% colspan="1" %)
516 +(((
517 +**BeepSequence,** direction, volume
518 +)))|(% colspan="1" %)(% colspan="1" %)
519 +(((
520 +Plays a sequence of tones in either ascending or descending tone frequency if the variable is true.
521 +
522 +The variable is set to false automatically.
523 +)))|(% colspan="1" %)(% colspan="1" %)
524 +(((
525 +output
526 +)))|(% colspan="1" %)(% colspan="1" %)
527 +(((
528 +bool
529 +)))|(% colspan="1" %)(% colspan="1" %)
530 +(((
531 +direction has to be one of Up, Down
532 +
533 +default volume is 10
534 +)))|(% colspan="1" %)(% colspan="1" %)
535 +(((
536 +sound.ftl
537 +)))
538 +|(% colspan="1" %)(% colspan="1" %)
539 +(((
540 +**UltrasonicSensor,** port
541 +)))|(% colspan="1" %)(% colspan="1" %)
542 +(((
543 +Reads the distance that an ultrasonic sensor measures.
544 +)))|(% colspan="1" %)(% colspan="1" %)
545 +(((
546 +input
547 +)))|(% colspan="1" %)(% colspan="1" %)
548 +(((
549 +int
550 +)))|(% colspan="1" %)(% colspan="1" %)
551 +(((
552 +
553 +)))|(% colspan="1" %)(% colspan="1" %)
554 +(((
555 +ultrasonic.ftl
556 +)))
557 +|(% colspan="1" %)(% colspan="1" %)
558 +(((
559 +**Gyro,** port, mode
560 +)))|(% colspan="1" %)(% colspan="1" %)
561 +(((
562 +Reads the value of a gyroscope.
563 +)))|(% colspan="1" %)(% colspan="1" %)
564 +(((
565 +input
566 +)))|(% colspan="1" %)(% colspan="1" %)
567 +(((
568 +int
569 +)))|(% colspan="1" %)(% colspan="1" %)
570 +(((
571 +Not available on NXT
572 +
573 +mode hat to be one of Angle, Rate
574 +)))|(% colspan="1" %)(% colspan="1" %)
575 +(((
576 +gyro.ftl
577 +)))
578 +|(% colspan="1" %)(% colspan="1" %)
579 +(((
580 +**CalibrateGyro,** port, autoReset
581 +)))|(% colspan="1" %)(% colspan="1" %)
582 +(((
583 +Resets a gyroscope if the variable is true.
584 +
585 +If autoReset is true, the variable is set to false automatically.
586 +)))|(% colspan="1" %)(% colspan="1" %)
587 +(((
588 +output
589 +)))|(% colspan="1" %)(% colspan="1" %)
590 +(((
591 +bool
592 +)))|(% colspan="1" %)(% colspan="1" %)
593 +(((
594 +autoReset is true per default
595 +)))|(% colspan="1" %)(% colspan="1" %)
596 +(((
597 +gyro.ftl
598 +)))
599 +
600 +
601 +
133 133  ----
134 134  
135 135  == Using the Remote Console (RConsole) ==
... ... @@ -146,6 +146,7 @@
146 146  
147 147  The following presents typical issues and how to solve them.
148 148  
618 +(% class="wrapped" %)
149 149  |=(((
150 150  Issue
151 151  )))|=(((
... ... @@ -209,3 +209,5 @@
209 209  
210 210  
211 211  
682 +
683 +input
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -15532230
1 +20153911
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/20153911/LEGO Mindstorms with leJOS and SCCharts