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	1	+Project Creation, Initialization and Launch (Prom)

Author

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1		-XWiki.aas2
	1	+XWiki.ssm

Content

...	...	@@ -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 (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		-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