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 < 38.1 >
edited by aas2
on 2016/11/25 17:49
>
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... ... @@ -12,6 +12,12 @@
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  
... ... @@ -71,17 +71,19 @@
71 71  
72 72  If you have an **NXT** **brick**, install the **leJOS NXJ** Plug-in. If you have an **EV3 brick**, install the **leJOS EV3** plugin.
73 73  
80 +**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).
81 +
74 74  [[image:attach:lejos_eclipse_plugin.png]]
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).
86 +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.
92 +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).
126 +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 +130,490 @@
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  
141 +=== Available Wrapper Code Snippets ===
142 +
143 +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.
144 +
145 +For sensors, the port has to be on of S1, S2, S3, S4.
146 +
147 +For motors / actuators the port has to be one of A, B, C, D.
148 +
149 +(% class="wrapped" %)
150 +|=(((
151 +Snippet Name and Parameters
152 +)))|=(((
153 +Description
154 +)))|=(((
155 +Use on
156 +)))|=(% colspan="1" %)(% colspan="1" %)
157 +(((
158 +Variable type
159 +)))|=(((
160 +Remark
161 +)))|=(% colspan="1" %)(% colspan="1" %)
162 +(((
163 +Defined in File
164 +)))
165 +|(% colspan="1" %)(% colspan="1" %)
166 +(((
167 +**Clock,** milliseconds
168 +)))|(% colspan="1" %)(% colspan="1" %)
169 +(((
170 +Sets a variable to true for one tick if the time in milliseconds passed since the last time it was set to true.
171 +)))|(% colspan="1" %)(% colspan="1" %)
172 +(((
173 +input
174 +)))|(% colspan="1" %)(% colspan="1" %)
175 +(((
176 +bool
177 +)))|(% colspan="1" %)(% colspan="1" %)
178 +(((
179 +See also ResetClock.
180 +)))|(% colspan="1" %)(% colspan="1" %)
181 +(((
182 +timing.ftl
183 +)))
184 +|(% colspan="1" %)(% colspan="1" %)
185 +(((
186 +**ResetClock,** clockVariableName, autoFalse
187 +)))|(% colspan="1" %)(% colspan="1" %)
188 +(((
189 +Resets a clock, such that the full time intervall of the clock has to elapse, before the clock will be set to true again.
190 +
191 +If autoFalse is true, the reset variable will be set to false automatically.
192 +)))|(% colspan="1" %)(% colspan="1" %)
193 +(((
194 +output
195 +)))|(% colspan="1" %)(% colspan="1" %)
196 +(((
197 +bool
198 +)))|(% colspan="1" %)(% colspan="1" %)
199 +(((
200 +autoFalse is true per default.
201 +)))|(% colspan="1" %)(% colspan="1" %)
202 +(((
203 +timing.ftl
204 +)))
205 +|(% colspan="1" %)(% colspan="1" %)
206 +(((
207 +**Time**
208 +)))|(% colspan="1" %)(% colspan="1" %)
209 +(((
210 +Reads the elapsed time since program start
211 +)))|(% colspan="1" %)(% colspan="1" %)
212 +(((
213 +input
214 +)))|(% colspan="1" %)(% colspan="1" %)
215 +(((
216 +int
217 +)))|(% colspan="1" %)(% colspan="1" %)
218 +(((
219 +
220 +)))|(% colspan="1" %)(% colspan="1" %)
221 +(((
222 +timing.ftl
223 +)))
224 +|(% colspan="1" %)(% colspan="1" %)
225 +(((
226 +**TickLoopDuration,** targetInMilliseconds
227 +)))|(% colspan="1" %)(% colspan="1" %)
228 +(((
229 +Delays the execution until the tick loop takes at least as long as the given target duration.
230 +
231 +The input variable is set to the actual tick loop duration.
232 +)))|(% colspan="1" %)(% colspan="1" %)
233 +(((
234 +input
235 +)))|(% colspan="1" %)(% colspan="1" %)
236 +(((
237 +int
238 +)))|(% colspan="1" %)(% colspan="1" %)
239 +(((
240 +Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
241 +)))|(% colspan="1" %)(% colspan="1" %)
242 +(((
243 +timing.ftl
244 +)))
245 +|(% colspan="1" %)(% colspan="1" %)
246 +(((
247 +**TickWakeUp**
248 +)))|(% colspan="1" %)(% colspan="1" %)
249 +(((
250 +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.
251 +
252 +This means the next tick function call is delayed until the wake up time has been reached.
253 +)))|(% colspan="1" %)(% colspan="1" %)
254 +(((
255 +input
256 +)))|(% colspan="1" %)(% colspan="1" %)
257 +(((
258 +int
259 +)))|(% colspan="1" %)(% colspan="1" %)
260 +(((
261 +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.
262 +)))|(% colspan="1" %)(% colspan="1" %)
263 +(((
264 +timing.ftl
265 +)))
266 +|(% colspan="1" %)(% colspan="1" %)
267 +(((
268 +**Sleep**
269 +)))|(% colspan="1" %)(% colspan="1" %)
270 +(((
271 +Lets the current thread sleep the time in milliseconds of the variable value.
272 +)))|(% colspan="1" %)(% colspan="1" %)
273 +(((
274 +output
275 +)))|(% colspan="1" %)(% colspan="1" %)
276 +(((
277 +int
278 +)))|(% colspan="1" %)(% colspan="1" %)
279 +(((
280 +
281 +)))|(% colspan="1" %)(% colspan="1" %)
282 +(((
283 +timing.ftl
284 +)))
285 +|(% colspan="1" %)(% colspan="1" %)
286 +(((
287 +**Print,** autoReset
288 +)))|(% colspan="1" %)(% colspan="1" %)
289 +(((
290 +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
291 +)))|(% colspan="1" %)(% colspan="1" %)
292 +(((
293 +output
294 +)))|(% colspan="1" %)(% colspan="1" %)
295 +(((
296 +string
297 +)))|(% colspan="1" %)(% colspan="1" %)
298 +(((
299 +autoReset is true per default.
300 +)))|(% colspan="1" %)(% colspan="1" %)
301 +(((
302 +print.ftl
303 +)))
304 +|(% colspan="1" %)(% colspan="1" %)
305 +(((
306 +**DrawString,** x, y
307 +)))|(% colspan="1" %)(% colspan="1" %)
308 +(((
309 +Prints a string to the given x and y coordinate on the LCD.
310 +)))|(% colspan="1" %)(% colspan="1" %)
311 +(((
312 +output
313 +)))|(% colspan="1" %)(% colspan="1" %)
314 +(((
315 +string
316 +)))|(% colspan="1" %)(% colspan="1" %)
317 +(((
318 +
319 +)))|(% colspan="1" %)(% colspan="1" %)
320 +(((
321 +print.ftl
322 +)))
323 +|(% colspan="1" %)(% colspan="1" %)
324 +(((
325 +**Button, **buttonId
326 +)))|(% colspan="1" %)(% colspan="1" %)
327 +(((
328 +Sets a variable to true iff the button on the Mindstorms device is pressed.
329 +)))|(% colspan="1" %)(% colspan="1" %)
330 +(((
331 +input
332 +)))|(% colspan="1" %)(% colspan="1" %)
333 +(((
334 +bool
335 +)))|(% colspan="1" %)(% colspan="1" %)
336 +(((
337 +The buttonId has to be one of ENTER, LEFT, RIGHT
338 +)))|(% colspan="1" %)(% colspan="1" %)
339 +(((
340 +touch_and_buttons.ftl
341 +)))
342 +|(% colspan="1" %)(% colspan="1" %)
343 +(((
344 +**TouchSensor**, port
345 +)))|(% colspan="1" %)(% colspan="1" %)
346 +(((
347 +Sets a variable to true iff the touch sensor on the given port is pressed.
348 +)))|(% colspan="1" %)(% colspan="1" %)
349 +(((
350 +input
351 +)))|(% colspan="1" %)(% colspan="1" %)
352 +(((
353 +bool
354 +)))|(% colspan="1" %)(% colspan="1" %)
355 +(((
356 +
357 +)))|(% colspan="1" %)(% colspan="1" %)
358 +(((
359 +touch_and_buttons.ftl
360 +)))
361 +|(% colspan="1" %)(% colspan="1" %)
362 +(((
363 +**LightSensor,** port, percentValue
364 +)))|(% colspan="1" %)(% colspan="1" %)
365 +(((
366 +Reads  the value of a light sensor.
367 +
368 +If percentValue is true, the a percent value is retured, based on the light sensor calibration.
369 +)))|(% colspan="1" %)(% colspan="1" %)
370 +(((
371 +input
372 +)))|(% colspan="1" %)(% colspan="1" %)
373 +(((
374 +int
375 +)))|(% colspan="1" %)(% colspan="1" %)
376 +(((
377 +percentValue is not available on EV3
378 +)))|(% colspan="1" %)(% colspan="1" %)
379 +(((
380 +light.ftl
381 +)))
382 +|(% colspan="1" %)(% colspan="1" %)
383 +(((
384 +**CalibrateLightSensor,** port, signal
385 +)))|(% colspan="1" %)(% colspan="1" %)
386 +(((
387 +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.
388 +)))|(% colspan="1" %)(% colspan="1" %)
389 +(((
390 +output
391 +)))|(% colspan="1" %)(% colspan="1" %)
392 +(((
393 +bool
394 +)))|(% colspan="1" %)(% colspan="1" %)
395 +(((
396 +signal has to be one of High, Low
397 +)))|(% colspan="1" %)(% colspan="1" %)
398 +(((
399 +light.ftl
400 +)))
401 +|(% colspan="1" %)(% colspan="1" %)
402 +(((
403 +**Floodlight,** port
404 +)))|(% colspan="1" %)(% colspan="1" %)
405 +(((
406 +Reads / Sets the state of the red lamp of the light sensor.
407 +)))|(% colspan="1" %)(% colspan="1" %)
408 +(((
409 +input
410 +
411 +output
412 +)))|(% colspan="1" %)(% colspan="1" %)
413 +(((
414 +bool
415 +)))|(% colspan="1" %)(% colspan="1" %)
416 +(((
417 +
418 +)))|(% colspan="1" %)(% colspan="1" %)
419 +(((
420 +light.ftl
421 +)))
422 +|(% colspan="1" %)(% colspan="1" %)
423 +(((
424 +**RCXLamp,** port
425 +)))|(% colspan="1" %)(% colspan="1" %)
426 +(((
427 +Turns an RCX lamp on (variable is true) or off (variable is false)
428 +)))|(% colspan="1" %)(% colspan="1" %)
429 +(((
430 +output
431 +)))|(% colspan="1" %)(% colspan="1" %)
432 +(((
433 +bool
434 +)))|(% colspan="1" %)(% colspan="1" %)
435 +(((
436 +
437 +)))|(% colspan="1" %)(% colspan="1" %)
438 +(((
439 +light.ftl
440 +)))
441 +|(% colspan="1" %)(% colspan="1" %)
442 +(((
443 +**MotorSpeed,** port, brake
444 +)))|(% colspan="1" %)(% colspan="1" %)
445 +(((
446 +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).
447 +)))|(% colspan="1" %)(% colspan="1" %)
448 +(((
449 +input
450 +
451 +output
452 +)))|(% colspan="1" %)(% colspan="1" %)
453 +(((
454 +int
455 +)))|(% colspan="1" %)(% colspan="1" %)
456 +(((
457 +brake is true per default.
458 +)))|(% colspan="1" %)(% colspan="1" %)
459 +(((
460 +motor.ftl
461 +)))
462 +|(% colspan="1" %)(% colspan="1" %)
463 +(((
464 +**MotorIsMoving,** port
465 +)))|(% colspan="1" %)(% colspan="1" %)
466 +(((
467 +Sets a variable to true iff the motor on the given port is moving.
468 +)))|(% colspan="1" %)(% colspan="1" %)
469 +(((
470 +input
471 +)))|(% colspan="1" %)(% colspan="1" %)
472 +(((
473 +bool
474 +)))|(% colspan="1" %)(% colspan="1" %)
475 +(((
476 +
477 +)))|(% colspan="1" %)(% colspan="1" %)
478 +(((
479 +motor.ftl
480 +)))
481 +|(% colspan="1" %)(% colspan="1" %)
482 +(((
483 +**MotorRotation,** port
484 +)))|(% colspan="1" %)(% colspan="1" %)
485 +(((
486 +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.
487 +)))|(% colspan="1" %)(% colspan="1" %)
488 +(((
489 +output
490 +)))|(% colspan="1" %)(% colspan="1" %)
491 +(((
492 +int
493 +)))|(% colspan="1" %)(% colspan="1" %)
494 +(((
495 +
496 +)))|(% colspan="1" %)(% colspan="1" %)
497 +(((
498 +motor.ftl
499 +)))
500 +|(% colspan="1" %)(% colspan="1" %)
501 +(((
502 +**Beep,** volume
503 +)))|(% colspan="1" %)(% colspan="1" %)
504 +(((
505 +Plays a beep sound as long as the variable is true.
506 +)))|(% colspan="1" %)(% colspan="1" %)
507 +(((
508 +output
509 +)))|(% colspan="1" %)(% colspan="1" %)
510 +(((
511 +bool
512 +)))|(% colspan="1" %)(% colspan="1" %)
513 +(((
514 +default volume is 10
515 +)))|(% colspan="1" %)(% colspan="1" %)
516 +(((
517 +sound.ftl
518 +)))
519 +|(% colspan="1" %)(% colspan="1" %)
520 +(((
521 +**Buzz,** volume
522 +)))|(% colspan="1" %)(% colspan="1" %)
523 +(((
524 +Plays a buzz sound as long as the variable is true.
525 +)))|(% colspan="1" %)(% colspan="1" %)
526 +(((
527 +output
528 +)))|(% colspan="1" %)(% colspan="1" %)
529 +(((
530 +bool
531 +)))|(% colspan="1" %)(% colspan="1" %)
532 +(((
533 +default volume is 10
534 +)))|(% colspan="1" %)(% colspan="1" %)
535 +(((
536 +sound.ftl
537 +)))
538 +|(% colspan="1" %)(% colspan="1" %)
539 +(((
540 +**BeepSequence,** direction, volume
541 +)))|(% colspan="1" %)(% colspan="1" %)
542 +(((
543 +Plays a sequence of tones in either ascending or descending tone frequency if the variable is true.
544 +
545 +The variable is set to false automatically.
546 +)))|(% colspan="1" %)(% colspan="1" %)
547 +(((
548 +output
549 +)))|(% colspan="1" %)(% colspan="1" %)
550 +(((
551 +bool
552 +)))|(% colspan="1" %)(% colspan="1" %)
553 +(((
554 +direction has to be one of Up, Down
555 +
556 +default volume is 10
557 +)))|(% colspan="1" %)(% colspan="1" %)
558 +(((
559 +sound.ftl
560 +)))
561 +|(% colspan="1" %)(% colspan="1" %)
562 +(((
563 +**UltrasonicSensor,** port
564 +)))|(% colspan="1" %)(% colspan="1" %)
565 +(((
566 +Reads the distance that an ultrasonic sensor measures.
567 +)))|(% colspan="1" %)(% colspan="1" %)
568 +(((
569 +input
570 +)))|(% colspan="1" %)(% colspan="1" %)
571 +(((
572 +int
573 +)))|(% colspan="1" %)(% colspan="1" %)
574 +(((
575 +
576 +)))|(% colspan="1" %)(% colspan="1" %)
577 +(((
578 +ultrasonic.ftl
579 +)))
580 +|(% colspan="1" %)(% colspan="1" %)
581 +(((
582 +**Gyro,** port, mode
583 +)))|(% colspan="1" %)(% colspan="1" %)
584 +(((
585 +Reads the value of a gyroscope.
586 +)))|(% colspan="1" %)(% colspan="1" %)
587 +(((
588 +input
589 +)))|(% colspan="1" %)(% colspan="1" %)
590 +(((
591 +int
592 +)))|(% colspan="1" %)(% colspan="1" %)
593 +(((
594 +Not available on NXT
595 +
596 +mode hat to be one of Angle, Rate
597 +)))|(% colspan="1" %)(% colspan="1" %)
598 +(((
599 +gyro.ftl
600 +)))
601 +|(% colspan="1" %)(% colspan="1" %)
602 +(((
603 +**CalibrateGyro,** port, autoReset
604 +)))|(% colspan="1" %)(% colspan="1" %)
605 +(((
606 +Resets a gyroscope if the variable is true.
607 +
608 +If autoReset is true, the variable is set to false automatically.
609 +)))|(% colspan="1" %)(% colspan="1" %)
610 +(((
611 +output
612 +)))|(% colspan="1" %)(% colspan="1" %)
613 +(((
614 +bool
615 +)))|(% colspan="1" %)(% colspan="1" %)
616 +(((
617 +autoReset is true per default
618 +)))|(% colspan="1" %)(% colspan="1" %)
619 +(((
620 +gyro.ftl
621 +)))
622 +
623 +
624 +
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  
641 +(% class="wrapped" %)
149 149  |=(((
150 150  Issue
151 151  )))|=(((
... ... @@ -209,3 +209,5 @@
209 209  
210 210  
211 211  
705 +
706 +input
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -15532230
1 +27459607
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/27459607/LEGO Mindstorms with leJOS and SCCharts

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