Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17
<
From version < 33.1 >
edited by aas2
on 2016/02/15 16:25
To version < 35.1 >
edited by aas2
on 2016/08/01 12:52
>
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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]]
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 ==
... ... @@ -132,12 +132,13 @@
132 132  
133 133  === Available Wrapper Code Snippets ===
134 134  
135 -There are several wrapper code snippets that can be used 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.
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.
136 136  
137 137  For sensors, the port has to be on of S1, S2, S3, S4.
138 138  
139 -For motors the port has to be one of A, B, C, D.
145 +For motors / actuators the port has to be one of A, B, C, D.
140 140  
147 +(% class="wrapped" %)
141 141  |=(((
142 142  Snippet Name and Parameters
143 143  )))|=(((
... ... @@ -149,6 +149,9 @@
149 149  Variable type
150 150  )))|=(((
151 151  Remark
159 +)))|=(% colspan="1" %)(% colspan="1" %)
160 +(((
161 +Defined in File
152 152  )))
153 153  |(% colspan="1" %)(% colspan="1" %)
154 154  (((
... ... @@ -165,6 +165,9 @@
165 165  )))|(% colspan="1" %)(% colspan="1" %)
166 166  (((
167 167  See also ResetClock.
178 +)))|(% colspan="1" %)(% colspan="1" %)
179 +(((
180 +timing.ftl
168 168  )))
169 169  |(% colspan="1" %)(% colspan="1" %)
170 170  (((
... ... @@ -183,6 +183,9 @@
183 183  )))|(% colspan="1" %)(% colspan="1" %)
184 184  (((
185 185  autoFalse is true per default.
199 +)))|(% colspan="1" %)(% colspan="1" %)
200 +(((
201 +timing.ftl
186 186  )))
187 187  |(% colspan="1" %)(% colspan="1" %)
188 188  (((
... ... @@ -199,6 +199,9 @@
199 199  )))|(% colspan="1" %)(% colspan="1" %)
200 200  (((
201 201  
218 +)))|(% colspan="1" %)(% colspan="1" %)
219 +(((
220 +timing.ftl
202 202  )))
203 203  |(% colspan="1" %)(% colspan="1" %)
204 204  (((
... ... @@ -217,6 +217,9 @@
217 217  )))|(% colspan="1" %)(% colspan="1" %)
218 218  (((
219 219  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
220 220  )))
221 221  |(% colspan="1" %)(% colspan="1" %)
222 222  (((
... ... @@ -233,6 +233,9 @@
233 233  )))|(% colspan="1" %)(% colspan="1" %)
234 234  (((
235 235  
258 +)))|(% colspan="1" %)(% colspan="1" %)
259 +(((
260 +timing.ftl
236 236  )))
237 237  |(% colspan="1" %)(% colspan="1" %)
238 238  (((
... ... @@ -249,6 +249,9 @@
249 249  )))|(% colspan="1" %)(% colspan="1" %)
250 250  (((
251 251  autoReset is true per default.
277 +)))|(% colspan="1" %)(% colspan="1" %)
278 +(((
279 +print.ftl
252 252  )))
253 253  |(% colspan="1" %)(% colspan="1" %)
254 254  (((
... ... @@ -265,6 +265,9 @@
265 265  )))|(% colspan="1" %)(% colspan="1" %)
266 266  (((
267 267  
296 +)))|(% colspan="1" %)(% colspan="1" %)
297 +(((
298 +print.ftl
268 268  )))
269 269  |(% colspan="1" %)(% colspan="1" %)
270 270  (((
... ... @@ -281,6 +281,9 @@
281 281  )))|(% colspan="1" %)(% colspan="1" %)
282 282  (((
283 283  The buttonId has to be one of ENTER, LEFT, RIGHT
315 +)))|(% colspan="1" %)(% colspan="1" %)
316 +(((
317 +touch_and_buttons.ftl
284 284  )))
285 285  |(% colspan="1" %)(% colspan="1" %)
286 286  (((
... ... @@ -297,6 +297,9 @@
297 297  )))|(% colspan="1" %)(% colspan="1" %)
298 298  (((
299 299  
334 +)))|(% colspan="1" %)(% colspan="1" %)
335 +(((
336 +touch_and_buttons.ftl
300 300  )))
301 301  |(% colspan="1" %)(% colspan="1" %)
302 302  (((
... ... @@ -315,6 +315,9 @@
315 315  )))|(% colspan="1" %)(% colspan="1" %)
316 316  (((
317 317  percentValue is not available on EV3
355 +)))|(% colspan="1" %)(% colspan="1" %)
356 +(((
357 +light.ftl
318 318  )))
319 319  |(% colspan="1" %)(% colspan="1" %)
320 320  (((
... ... @@ -331,6 +331,9 @@
331 331  )))|(% colspan="1" %)(% colspan="1" %)
332 332  (((
333 333  signal has to be one of High, Low
374 +)))|(% colspan="1" %)(% colspan="1" %)
375 +(((
376 +light.ftl
334 334  )))
335 335  |(% colspan="1" %)(% colspan="1" %)
336 336  (((
... ... @@ -349,6 +349,9 @@
349 349  )))|(% colspan="1" %)(% colspan="1" %)
350 350  (((
351 351  
395 +)))|(% colspan="1" %)(% colspan="1" %)
396 +(((
397 +light.ftl
352 352  )))
353 353  |(% colspan="1" %)(% colspan="1" %)
354 354  (((
... ... @@ -365,6 +365,9 @@
365 365  )))|(% colspan="1" %)(% colspan="1" %)
366 366  (((
367 367  
414 +)))|(% colspan="1" %)(% colspan="1" %)
415 +(((
416 +light.ftl
368 368  )))
369 369  |(% colspan="1" %)(% colspan="1" %)
370 370  (((
... ... @@ -383,6 +383,9 @@
383 383  )))|(% colspan="1" %)(% colspan="1" %)
384 384  (((
385 385  brake is true per default.
435 +)))|(% colspan="1" %)(% colspan="1" %)
436 +(((
437 +motor.ftl
386 386  )))
387 387  |(% colspan="1" %)(% colspan="1" %)
388 388  (((
... ... @@ -399,6 +399,9 @@
399 399  )))|(% colspan="1" %)(% colspan="1" %)
400 400  (((
401 401  
454 +)))|(% colspan="1" %)(% colspan="1" %)
455 +(((
456 +motor.ftl
402 402  )))
403 403  |(% colspan="1" %)(% colspan="1" %)
404 404  (((
... ... @@ -415,6 +415,9 @@
415 415  )))|(% colspan="1" %)(% colspan="1" %)
416 416  (((
417 417  
473 +)))|(% colspan="1" %)(% colspan="1" %)
474 +(((
475 +motor.ftl
418 418  )))
419 419  |(% colspan="1" %)(% colspan="1" %)
420 420  (((
... ... @@ -431,6 +431,9 @@
431 431  )))|(% colspan="1" %)(% colspan="1" %)
432 432  (((
433 433  default volume is 10
492 +)))|(% colspan="1" %)(% colspan="1" %)
493 +(((
494 +sound.ftl
434 434  )))
435 435  |(% colspan="1" %)(% colspan="1" %)
436 436  (((
... ... @@ -447,6 +447,9 @@
447 447  )))|(% colspan="1" %)(% colspan="1" %)
448 448  (((
449 449  default volume is 10
511 +)))|(% colspan="1" %)(% colspan="1" %)
512 +(((
513 +sound.ftl
450 450  )))
451 451  |(% colspan="1" %)(% colspan="1" %)
452 452  (((
... ... @@ -467,6 +467,9 @@
467 467  direction has to be one of Up, Down
468 468  
469 469  default volume is 10
534 +)))|(% colspan="1" %)(% colspan="1" %)
535 +(((
536 +sound.ftl
470 470  )))
471 471  |(% colspan="1" %)(% colspan="1" %)
472 472  (((
... ... @@ -483,6 +483,9 @@
483 483  )))|(% colspan="1" %)(% colspan="1" %)
484 484  (((
485 485  
553 +)))|(% colspan="1" %)(% colspan="1" %)
554 +(((
555 +ultrasonic.ftl
486 486  )))
487 487  |(% colspan="1" %)(% colspan="1" %)
488 488  (((
... ... @@ -501,6 +501,9 @@
501 501  Not available on NXT
502 502  
503 503  mode hat to be one of Angle, Rate
574 +)))|(% colspan="1" %)(% colspan="1" %)
575 +(((
576 +gyro.ftl
504 504  )))
505 505  |(% colspan="1" %)(% colspan="1" %)
506 506  (((
... ... @@ -519,6 +519,9 @@
519 519  )))|(% colspan="1" %)(% colspan="1" %)
520 520  (((
521 521  autoReset is true per default
595 +)))|(% colspan="1" %)(% colspan="1" %)
596 +(((
597 +gyro.ftl
522 522  )))
523 523  
524 524  
... ... @@ -539,6 +539,7 @@
539 539  
540 540  The following presents typical issues and how to solve them.
541 541  
618 +(% class="wrapped" %)
542 542  |=(((
543 543  Issue
544 544  )))|=(((
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -15532304
1 +20153911
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/15532304/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

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