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 < 46.1 >
edited by ssm
on 2023/07/06 14:36
>
Change comment: Renamed back-links.

Summary

Details

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1 +Project Creation, Initialization and Launch (Prom)
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1 -XWiki.aas2
1 +XWiki.ssm
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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 (pre 1\.0)]]
18 +* [[The Textual SCCharts Language SCT>>doc:Textual SCCharts Language SCT]]
19 +* [[SCCharts Examples>>doc:KIELER.Home.SCCharts.Examples.WebHome]]
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  
... ... @@ -52,13 +52,14 @@
52 52  
53 53  ----
54 54  
55 -== Download and Configure KIELER
56 - ==
61 +== Download and Configure KIELER ==
57 57  
58 -Download and unpack the nightly build of KIELER for your OS. It is available at the [[doc:Downloads]] page.\\
63 +== ==
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.
65 +Download and unpack the nightly build of KIELER for your OS. It is available at the [[doc:KIELER.Home.Overview.Downloads.WebHome]] page.\\
61 61  
67 +**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.
68 +
62 62  === The Eclipse plugin for leJOS ===
63 63  
64 64  There is an Eclipse plugin for leJOS which adds a project creation wizard and launch configuration to the platform.
... ... @@ -71,17 +71,21 @@
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  
74 -[[image:attach:lejos_eclipse_plugin.png]]
81 +[[image:attach:Screenshot_20171016_130805.png]]
75 75  
83 +**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).
84 +
85 +\\
86 +
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).
89 +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.
95 +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  
... ... @@ -90,7 +90,7 @@
90 90  1. The project wizard from the leJOS plugin opens. Set the project name to //Flashlight// and click //finish//.
91 91  1. The project is created and the model file is opened in an editor (This might take a few seconds).
92 92  
93 -=== Edit the model: ===
104 +=== Edit the Model: ===
94 94  
95 95  Change the contents of the model file to the following code and save it.
96 96  
... ... @@ -115,21 +115,545 @@
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).
129 +The available wrapper code snippets are defined in the directory //assets/snippets// 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  
122 -**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).**
133 +**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 stable releases is [[http:~~/~~/download.jboss.org/jbosstools/neon/stable/updates/ >>url:http://download.jboss.org/jbosstools/neon/stable/updates/||shape="rect"]]. Note that only the //FreeMarker IDE// feature is required (Abridged JBoss Tools > FreeMarker IDE).**
123 123  **
124 124  
125 -=== Launch the project: ===
136 +=== Build the Project: ===
126 126  
127 -With the mouse over the SCT file in the project explorer, perform //Right Click > Run As > KiCo Compilation.//
138 +The model is now ready to be compiled. Compilation is done in the background when the project is built. There are two ways to build a project: manually using //Project > Build Project//, or automatically via //Project > Build Automatically//. If the automatic build is enabled, resources are built when they are saved.
128 128  
129 -A launch config is created, which compiles the model to Java code and creates wrapper code from the annotations in the model file. Afterwards this output is compiled and deployed to the Mindstorms brick, by using the launch shortcut from the leJOS plugin. If any errors occur, you can see them in the Console View.
140 +Building the project will create a new folder //kieler-gen// in which all results are saved. This includes the compiled code from the model, an executable simulation for the model and wrapper code that is ready to be deployed to the Mindstorms Brick.
130 130  
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"]].
142 +The simulation is saved as JAR file in //kieler-gen/sim/bin// and can be started via //Right Click > Run as > KIELER Simulation//. Models and variables of a running simulation are displayed in the Data Pool View.
132 132  
144 +[[image:attach:Screenshot_20171016_110005.png]]
145 +
146 +Besides the simulation, the finished wrapper code that can be uploaded to the Mindstorms brick is created as part of the project build. It is saved in //kieler-gen/model//. To upload it to the Mindstorms brick, use //Right Click > Run as > leJOS NXT Program//.
147 +
148 +[[image:attach:Screenshot_20171016_120554.png]]
149 +
150 +==== Excluding the Simulation from the NXT Build ====
151 +
152 +It is necessary to exclude the simulation directory and org.json directory inside kieler-gen from the NXT project specific build via //Right Click > Build Path > Exclude//. Afterwards the project has to be build again to remove all error markers in these directories.
153 +
154 +[[image:attach:Screenshot_20171016_105821.png]]
155 +
156 +Normally the NXT project attempts to compile all Java files in the kieler-gen directory for the platform. However, the simulation that is generated is not targeted at the Mindstorms brick and has compilation errors. It is compiled separately by KIELER.
157 +
158 +=== Available Wrapper Code Snippets ===
159 +
160 +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 build. The available snippets are listed below.
161 +
162 +For sensors, the port has to be on of S1, S2, S3, S4.
163 +
164 +For motors / actuators the port has to be one of A, B, C, D.
165 +
166 +(% class="wrapped" %)
167 +|=(((
168 +Snippet Name and Parameters
169 +)))|=(((
170 +Description
171 +)))|=(((
172 +Use on
173 +)))|=(% colspan="1" %)(% colspan="1" %)
174 +(((
175 +Variable type
176 +)))|=(((
177 +Remark
178 +)))|=(% colspan="1" %)(% colspan="1" %)
179 +(((
180 +Defined in File
181 +)))
182 +|(% colspan="1" %)(% colspan="1" %)
183 +(((
184 +**Clock,** milliseconds
185 +)))|(% colspan="1" %)(% colspan="1" %)
186 +(((
187 +Sets a variable to true for one tick if the time in milliseconds passed since the last time it was set to true.
188 +)))|(% colspan="1" %)(% colspan="1" %)
189 +(((
190 +input
191 +)))|(% colspan="1" %)(% colspan="1" %)
192 +(((
193 +bool
194 +)))|(% colspan="1" %)(% colspan="1" %)
195 +(((
196 +See also ResetClock.
197 +)))|(% colspan="1" %)(% colspan="1" %)
198 +(((
199 +timing.ftl
200 +)))
201 +|(% colspan="1" %)(% colspan="1" %)
202 +(((
203 +**ResetClock,** clockVariableName, autoFalse
204 +)))|(% colspan="1" %)(% colspan="1" %)
205 +(((
206 +Resets a clock, such that the full time intervall of the clock has to elapse, before the clock will be set to true again.
207 +
208 +If autoFalse is true, the reset variable will be set to false automatically.
209 +)))|(% colspan="1" %)(% colspan="1" %)
210 +(((
211 +output
212 +)))|(% colspan="1" %)(% colspan="1" %)
213 +(((
214 +bool
215 +)))|(% colspan="1" %)(% colspan="1" %)
216 +(((
217 +autoFalse is true per default.
218 +)))|(% colspan="1" %)(% colspan="1" %)
219 +(((
220 +timing.ftl
221 +)))
222 +|(% colspan="1" %)(% colspan="1" %)
223 +(((
224 +**Time**
225 +)))|(% colspan="1" %)(% colspan="1" %)
226 +(((
227 +Reads the elapsed time since program start (milliseconds)
228 +)))|(% colspan="1" %)(% colspan="1" %)
229 +(((
230 +input
231 +)))|(% colspan="1" %)(% colspan="1" %)
232 +(((
233 +int
234 +)))|(% colspan="1" %)(% colspan="1" %)
235 +(((
236 +\\
237 +)))|(% colspan="1" %)(% colspan="1" %)
238 +(((
239 +timing.ftl
240 +)))
241 +|(% colspan="1" %)(% colspan="1" %)
242 +(((
243 +**TickLoopDuration,** targetInMilliseconds
244 +)))|(% colspan="1" %)(% colspan="1" %)
245 +(((
246 +Delays the execution until the tick loop takes at least as long as the given target duration.
247 +
248 +The input variable is set to the actual tick loop duration.
249 +)))|(% colspan="1" %)(% colspan="1" %)
250 +(((
251 +input
252 +)))|(% colspan="1" %)(% colspan="1" %)
253 +(((
254 +int
255 +)))|(% colspan="1" %)(% colspan="1" %)
256 +(((
257 +Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.
258 +
259 +In case the actual tick loop duration is longer than the target duration, the modeler can provide some error handling.
260 +)))|(% colspan="1" %)(% colspan="1" %)
261 +(((
262 +timing.ftl
263 +)))
264 +|(% colspan="1" %)(% colspan="1" %)
265 +(((
266 +**TickWakeUp**
267 +)))|(% colspan="1" %)(% colspan="1" %)
268 +(((
269 +(% class="content-wrapper" %)
270 +(((
271 +Sets the input variable to the current system time (milliseconds). The model can add to this variable to get a new value. This is the next system time the tick function will be called.
272 +
273 +In other words, the next tick function call is delayed until the wake up time has been reached.
274 +
275 +For instance the statement **nextTickWakeUp += 500** could be used to call the tick function again in 500 milliseconds, if nextTickWakeUp is an input with the corresponding annotation.
276 +)))
277 +)))|(% colspan="1" %)(% colspan="1" %)
278 +(((
279 +input
280 +)))|(% colspan="1" %)(% colspan="1" %)
281 +(((
282 +int
283 +)))|(% colspan="1" %)(% colspan="1" %)
284 +(((
285 +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.
286 +)))|(% colspan="1" %)(% colspan="1" %)
287 +(((
288 +timing.ftl
289 +)))
290 +|(% colspan="1" %)(% colspan="1" %)
291 +(((
292 +**TickCount**
293 +)))|(% colspan="1" %)(% colspan="1" %)
294 +(((
295 +Counts the ticks. First tick is 0, the following are 1, 2, 3, ...
296 +)))|(% colspan="1" %)(% colspan="1" %)
297 +(((
298 +input
299 +)))|(% colspan="1" %)(% colspan="1" %)
300 +(((
301 +int
302 +)))|(% colspan="1" %)(% colspan="1" %)
303 +(((
304 +\\
305 +)))|(% colspan="1" %)(% colspan="1" %)
306 +(((
307 +timing.ftl
308 +)))
309 +|(% colspan="1" %)(% colspan="1" %)
310 +(((
311 +**Sleep**
312 +)))|(% colspan="1" %)(% colspan="1" %)
313 +(((
314 +Lets the current thread sleep the time in milliseconds of the variable value.
315 +)))|(% colspan="1" %)(% colspan="1" %)
316 +(((
317 +output
318 +)))|(% colspan="1" %)(% colspan="1" %)
319 +(((
320 +int
321 +)))|(% colspan="1" %)(% colspan="1" %)
322 +(((
323 +\\
324 +)))|(% colspan="1" %)(% colspan="1" %)
325 +(((
326 +timing.ftl
327 +)))
328 +|(% colspan="1" %)(% colspan="1" %)
329 +(((
330 +**Print,** autoReset
331 +)))|(% colspan="1" %)(% colspan="1" %)
332 +(((
333 +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
334 +)))|(% colspan="1" %)(% colspan="1" %)
335 +(((
336 +output
337 +)))|(% colspan="1" %)(% colspan="1" %)
338 +(((
339 +string
340 +)))|(% colspan="1" %)(% colspan="1" %)
341 +(((
342 +autoReset is true per default.
343 +)))|(% colspan="1" %)(% colspan="1" %)
344 +(((
345 +print.ftl
346 +)))
347 +|(% colspan="1" %)(% colspan="1" %)
348 +(((
349 +**DrawString,** x, y
350 +)))|(% colspan="1" %)(% colspan="1" %)
351 +(((
352 +Prints a string to the given x and y coordinate on the LCD.
353 +)))|(% colspan="1" %)(% colspan="1" %)
354 +(((
355 +output
356 +)))|(% colspan="1" %)(% colspan="1" %)
357 +(((
358 +string
359 +)))|(% colspan="1" %)(% colspan="1" %)
360 +(((
361 +\\
362 +)))|(% colspan="1" %)(% colspan="1" %)
363 +(((
364 +print.ftl
365 +)))
366 +|(% colspan="1" %)(% colspan="1" %)
367 +(((
368 +**Button, **buttonId
369 +)))|(% colspan="1" %)(% colspan="1" %)
370 +(((
371 +Sets a variable to true iff the button on the Mindstorms device is pressed.
372 +)))|(% colspan="1" %)(% colspan="1" %)
373 +(((
374 +input
375 +)))|(% colspan="1" %)(% colspan="1" %)
376 +(((
377 +bool
378 +)))|(% colspan="1" %)(% colspan="1" %)
379 +(((
380 +The buttonId has to be one of ENTER, LEFT, RIGHT
381 +)))|(% colspan="1" %)(% colspan="1" %)
382 +(((
383 +touch_and_buttons.ftl
384 +)))
385 +|(% colspan="1" %)(% colspan="1" %)
386 +(((
387 +**TouchSensor**, port
388 +)))|(% colspan="1" %)(% colspan="1" %)
389 +(((
390 +Sets a variable to true iff the touch sensor on the given port is pressed.
391 +)))|(% colspan="1" %)(% colspan="1" %)
392 +(((
393 +input
394 +)))|(% colspan="1" %)(% colspan="1" %)
395 +(((
396 +bool
397 +)))|(% colspan="1" %)(% colspan="1" %)
398 +(((
399 +\\
400 +)))|(% colspan="1" %)(% colspan="1" %)
401 +(((
402 +touch_and_buttons.ftl
403 +)))
404 +|(% colspan="1" %)(% colspan="1" %)
405 +(((
406 +**LightSensor,** port, percentValue
407 +)))|(% colspan="1" %)(% colspan="1" %)
408 +(((
409 +Reads  the value of a light sensor.
410 +
411 +If percentValue is true, the a percent value is retured, based on the light sensor calibration.
412 +)))|(% colspan="1" %)(% colspan="1" %)
413 +(((
414 +input
415 +)))|(% colspan="1" %)(% colspan="1" %)
416 +(((
417 +int
418 +)))|(% colspan="1" %)(% colspan="1" %)
419 +(((
420 +percentValue is not available on EV3
421 +)))|(% colspan="1" %)(% colspan="1" %)
422 +(((
423 +light.ftl
424 +)))
425 +|(% colspan="1" %)(% colspan="1" %)
426 +(((
427 +**CalibrateLightSensor,** port, signal
428 +)))|(% colspan="1" %)(% colspan="1" %)
429 +(((
430 +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.
431 +)))|(% colspan="1" %)(% colspan="1" %)
432 +(((
433 +output
434 +)))|(% colspan="1" %)(% colspan="1" %)
435 +(((
436 +bool
437 +)))|(% colspan="1" %)(% colspan="1" %)
438 +(((
439 +signal has to be one of High, Low
440 +)))|(% colspan="1" %)(% colspan="1" %)
441 +(((
442 +light.ftl
443 +)))
444 +|(% colspan="1" %)(% colspan="1" %)
445 +(((
446 +**Floodlight,** port
447 +)))|(% colspan="1" %)(% colspan="1" %)
448 +(((
449 +Reads / Sets the state of the red lamp of the light sensor.
450 +)))|(% colspan="1" %)(% colspan="1" %)
451 +(((
452 +input
453 +
454 +output
455 +)))|(% colspan="1" %)(% colspan="1" %)
456 +(((
457 +bool
458 +)))|(% colspan="1" %)(% colspan="1" %)
459 +(((
460 +\\
461 +)))|(% colspan="1" %)(% colspan="1" %)
462 +(((
463 +light.ftl
464 +)))
465 +|(% colspan="1" %)(% colspan="1" %)
466 +(((
467 +**RCXLamp,** port
468 +)))|(% colspan="1" %)(% colspan="1" %)
469 +(((
470 +Turns an RCX lamp on (variable is true) or off (variable is false)
471 +)))|(% colspan="1" %)(% colspan="1" %)
472 +(((
473 +output
474 +)))|(% colspan="1" %)(% colspan="1" %)
475 +(((
476 +bool
477 +)))|(% colspan="1" %)(% colspan="1" %)
478 +(((
479 +\\
480 +)))|(% colspan="1" %)(% colspan="1" %)
481 +(((
482 +light.ftl
483 +)))
484 +|(% colspan="1" %)(% colspan="1" %)
485 +(((
486 +**MotorSpeed,** port, brake
487 +)))|(% colspan="1" %)(% colspan="1" %)
488 +(((
489 +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).
490 +)))|(% colspan="1" %)(% colspan="1" %)
491 +(((
492 +input
493 +
494 +output
495 +)))|(% colspan="1" %)(% colspan="1" %)
496 +(((
497 +int
498 +)))|(% colspan="1" %)(% colspan="1" %)
499 +(((
500 +brake is true per default.
501 +)))|(% colspan="1" %)(% colspan="1" %)
502 +(((
503 +motor.ftl
504 +)))
505 +|(% colspan="1" %)(% colspan="1" %)
506 +(((
507 +**MotorIsMoving,** port
508 +)))|(% colspan="1" %)(% colspan="1" %)
509 +(((
510 +Sets a variable to true iff the motor on the given port is moving.
511 +)))|(% colspan="1" %)(% colspan="1" %)
512 +(((
513 +input
514 +)))|(% colspan="1" %)(% colspan="1" %)
515 +(((
516 +bool
517 +)))|(% colspan="1" %)(% colspan="1" %)
518 +(((
519 +\\
520 +)))|(% colspan="1" %)(% colspan="1" %)
521 +(((
522 +motor.ftl
523 +)))
524 +|(% colspan="1" %)(% colspan="1" %)
525 +(((
526 +**MotorRotation,** port
527 +)))|(% colspan="1" %)(% colspan="1" %)
528 +(((
529 +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.
530 +)))|(% colspan="1" %)(% colspan="1" %)
531 +(((
532 +output
533 +)))|(% colspan="1" %)(% colspan="1" %)
534 +(((
535 +int
536 +)))|(% colspan="1" %)(% colspan="1" %)
537 +(((
538 +\\
539 +)))|(% colspan="1" %)(% colspan="1" %)
540 +(((
541 +motor.ftl
542 +)))
543 +|(% colspan="1" %)(% colspan="1" %)
544 +(((
545 +**Beep,** volume
546 +)))|(% colspan="1" %)(% colspan="1" %)
547 +(((
548 +Plays a beep sound as long as the variable is true.
549 +)))|(% colspan="1" %)(% colspan="1" %)
550 +(((
551 +output
552 +)))|(% colspan="1" %)(% colspan="1" %)
553 +(((
554 +bool
555 +)))|(% colspan="1" %)(% colspan="1" %)
556 +(((
557 +default volume is 10
558 +)))|(% colspan="1" %)(% colspan="1" %)
559 +(((
560 +sound.ftl
561 +)))
562 +|(% colspan="1" %)(% colspan="1" %)
563 +(((
564 +**Buzz,** volume
565 +)))|(% colspan="1" %)(% colspan="1" %)
566 +(((
567 +Plays a buzz sound as long as the variable is true.
568 +)))|(% colspan="1" %)(% colspan="1" %)
569 +(((
570 +output
571 +)))|(% colspan="1" %)(% colspan="1" %)
572 +(((
573 +bool
574 +)))|(% colspan="1" %)(% colspan="1" %)
575 +(((
576 +default volume is 10
577 +)))|(% colspan="1" %)(% colspan="1" %)
578 +(((
579 +sound.ftl
580 +)))
581 +|(% colspan="1" %)(% colspan="1" %)
582 +(((
583 +**BeepSequence,** direction, volume
584 +)))|(% colspan="1" %)(% colspan="1" %)
585 +(((
586 +Plays a sequence of tones in either ascending or descending tone frequency if the variable is true.
587 +
588 +The variable is set to false automatically.
589 +)))|(% colspan="1" %)(% colspan="1" %)
590 +(((
591 +output
592 +)))|(% colspan="1" %)(% colspan="1" %)
593 +(((
594 +bool
595 +)))|(% colspan="1" %)(% colspan="1" %)
596 +(((
597 +direction has to be one of Up, Down
598 +
599 +default volume is 10
600 +)))|(% colspan="1" %)(% colspan="1" %)
601 +(((
602 +sound.ftl
603 +)))
604 +|(% colspan="1" %)(% colspan="1" %)
605 +(((
606 +**UltrasonicSensor,** port
607 +)))|(% colspan="1" %)(% colspan="1" %)
608 +(((
609 +Reads the distance that an ultrasonic sensor measures.
610 +)))|(% colspan="1" %)(% colspan="1" %)
611 +(((
612 +input
613 +)))|(% colspan="1" %)(% colspan="1" %)
614 +(((
615 +int
616 +)))|(% colspan="1" %)(% colspan="1" %)
617 +(((
618 +\\
619 +)))|(% colspan="1" %)(% colspan="1" %)
620 +(((
621 +ultrasonic.ftl
622 +)))
623 +|(% colspan="1" %)(% colspan="1" %)
624 +(((
625 +**Gyro,** port, mode
626 +)))|(% colspan="1" %)(% colspan="1" %)
627 +(((
628 +Reads the value of a gyroscope.
629 +)))|(% colspan="1" %)(% colspan="1" %)
630 +(((
631 +input
632 +)))|(% colspan="1" %)(% colspan="1" %)
633 +(((
634 +int
635 +)))|(% colspan="1" %)(% colspan="1" %)
636 +(((
637 +Not available on NXT
638 +
639 +mode hat to be one of Angle, Rate
640 +)))|(% colspan="1" %)(% colspan="1" %)
641 +(((
642 +gyro.ftl
643 +)))
644 +|(% colspan="1" %)(% colspan="1" %)
645 +(((
646 +**CalibrateGyro,** port, autoReset
647 +)))|(% colspan="1" %)(% colspan="1" %)
648 +(((
649 +Resets a gyroscope if the variable is true.
650 +
651 +If autoReset is true, the variable is set to false automatically.
652 +)))|(% colspan="1" %)(% colspan="1" %)
653 +(((
654 +output
655 +)))|(% colspan="1" %)(% colspan="1" %)
656 +(((
657 +bool
658 +)))|(% colspan="1" %)(% colspan="1" %)
659 +(((
660 +autoReset is true per default
661 +)))|(% colspan="1" %)(% colspan="1" %)
662 +(((
663 +gyro.ftl
664 +)))
665 +
666 +\\
667 +
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  
684 +(% class="wrapped" %)
149 149  |=(((
150 150  Issue
151 151  )))|=(((
... ... @@ -171,7 +171,7 @@
171 171  Uploading to the brick does not respond
172 172  )))|(% colspan="1" %)(% colspan="1" %)
173 173  (((
174 -
710 +\\
175 175  )))|(% colspan="1" %)(% colspan="1" %)
176 176  (((
177 177  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.
... ... @@ -197,7 +197,7 @@
197 197  Brick does nothing after program finished and prints "Program exit"
198 198  )))|(% colspan="1" %)(% colspan="1" %)
199 199  (((
200 -
736 +\\
201 201  )))|(% colspan="1" %)(% colspan="1" %)
202 202  (((
203 203  A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
... ... @@ -206,6 +206,6 @@
206 206  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.
207 207  )))
208 208  
209 -
745 +\\
210 210  
211 -
747 +\\
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1 +13762705
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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/13762705/LEGO Mindstorms with leJOS and SCCharts

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