Changes for page LEGO Mindstorms with leJOS and SCCharts

Last modified by Alexander Schulz-Rosengarten on 2023/09/11 16:17

From version < 34.1 >

edited by aas2
on 2016/02/23 13:34

To version < 39.1 >

edited by aas2
on 2017/05/04 09:27

Change comment: There is no comment for this version

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@@ -12,6 +12,12 @@
  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.
++If you want to learn the SCCharts langugage first, you can follow these links:
++
++* [[Introduction to SCCharts>>doc:SCCharts]]
++* [[The Textual SCCharts Language SCT>>doc:Textual SCCharts Language SCT]]
++* [[SCCharts Examples>>doc:Examples]]
++
  ----
  == Download and install leJOS ==
@@ -71,6 +71,8 @@
  If you have an **NXT** **brick**, install the **leJOS NXJ** Plug-in. If you have an **EV3 brick**, install the **leJOS EV3** plugin.
++**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).
++
  [[image:attach:lejos_eclipse_plugin.png]]
  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**.
@@ -119,7 +119,7 @@
  **Note:** The Floodlight of the EV3 has a pretty high latency when switching between on and off.
--**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).**
++**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).**
  **
  === Launch the project: ===
@@ -138,6 +138,7 @@
  For motors / actuators the port has to be one of A, B, C, D.
++(% class="wrapped" %)
  |=(((
  Snippet Name and Parameters
  )))|=(((
@@ -158,7 +158,7 @@
  **Clock,** milliseconds
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--Sets a variable to true if the time in milliseconds passed
++Sets a variable to true for one tick if the time in milliseconds passed since the last time it was set to true.
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  input
@@ -207,7 +207,7 @@
  int
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  timing.ftl
@@ -214,7 +214,7 @@
  )))
  |(% colspan="1" %)(% colspan="1" %)
  (((
--**TickDuration,** targetInMilliseconds
++**TickLoopDuration,** targetInMilliseconds
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  Delays the execution until the tick loop takes at least as long as the given target duration.
@@ -235,6 +235,27 @@
  )))
  |(% colspan="1" %)(% colspan="1" %)
  (((
++**TickWakeUp**
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++
++This means the next tick function call is delayed until the wake up time has been reached.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++input
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++int
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++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.
++)))|(% colspan="1" %)(% colspan="1" %)
++(((
++timing.ftl
++)))
++|(% colspan="1" %)(% colspan="1" %)
++(((
  **Sleep**
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
@@ -247,7 +247,7 @@
  int
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  timing.ftl
@@ -285,7 +285,7 @@
  string
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  print.ftl
@@ -323,7 +323,7 @@
  bool
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  touch_and_buttons.ftl
@@ -384,7 +384,7 @@
  bool
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  light.ftl
@@ -403,7 +403,7 @@
  bool
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  light.ftl
@@ -443,7 +443,7 @@
  bool
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  motor.ftl
@@ -462,7 +462,7 @@
  int
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  motor.ftl
@@ -542,7 +542,7 @@
  int
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  ultrasonic.ftl
@@ -590,7 +590,7 @@
  gyro.ftl
  )))
--
++\\
  ----
@@ -608,6 +608,7 @@
  The following presents typical issues and how to solve them.
++(% class="wrapped" %)
  |=(((
  Issue
  )))|=(((
@@ -633,7 +633,7 @@
  Uploading to the brick does not respond
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  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.
@@ -659,7 +659,7 @@
  Brick does nothing after program finished and prints "Program exit"
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
--
++\\
  )))|(% colspan="1" %)(% colspan="1" %)
  (((
  A program was uploaded and finished without errors. Afterwards the brick prints "Program exit" but does not open the main menu.
@@ -668,8 +668,8 @@
  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.
  )))
--
++\\
--
++\\
  input

Confluence.Code.ConfluencePageClass[0]

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@@ -1,1 +1,1 @@
--18776104
++33259848

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@@ -1,1 +1,1 @@
--https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/18776104/LEGO Mindstorms with leJOS and SCCharts
++https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/33259848/LEGO Mindstorms with leJOS and SCCharts

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