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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.
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	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	----
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17	17	== Download and install leJOS ==
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139	139	For motors / actuators the port has to be one of A, B, C, D.
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	147	+(% class="wrapped" %)
141	141	|=(((
142	142	Snippet Name and Parameters
143	143	)))|=(((
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609	609	The following presents typical issues and how to solve them.
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	618	+(% class="wrapped" %)
611	611	|=(((
612	612	Issue
613	613	)))|=(((

Confluence.Code.ConfluencePageClass[0]

Id

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1		-18776104
	1	+20153911

URL

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1		-https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/18776104/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