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Content

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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]]
	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 ==
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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**.
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138	138
139	139	For motors / actuators the port has to be one of A, B, C, D.
140	140
	149	+(% class="wrapped" %)
141	141	|=(((
142	142	Snippet Name and Parameters
143	143	)))|=(((
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158	158	**Clock,** milliseconds
159	159	)))|(% colspan="1" %)(% colspan="1" %)
160	160	(((
161		-Sets a variable to true if the time in milliseconds passed
	170	+Sets a variable to true for one tick if the time in milliseconds passed since the last time it was set to true.
162	162	)))|(% colspan="1" %)(% colspan="1" %)
163	163	(((
164	164	input
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214	214	)))
215	215	|(% colspan="1" %)(% colspan="1" %)
216	216	(((
217		-**TickDuration,** targetInMilliseconds
	226	+**TickLoopDuration,** targetInMilliseconds
218	218	)))|(% colspan="1" %)(% colspan="1" %)
219	219	(((
220	220	Delays the execution until the tick loop takes at least as long as the given target duration.
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235	235	)))
236	236	|(% colspan="1" %)(% colspan="1" %)
237	237	(((
	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	+(((
238	238	**Sleep**
239	239	)))|(% colspan="1" %)(% colspan="1" %)
240	240	(((
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608	608
609	609	The following presents typical issues and how to solve them.
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	641	+(% class="wrapped" %)
611	611	|=(((
612	612	Issue
613	613	)))|=(((

Confluence.Code.ConfluencePageClass[0]

Id

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1		-18776104
	1	+27459607

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/27459607/LEGO Mindstorms with leJOS and SCCharts