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10	10
11	11	Mindstorms is a product family from Lego, with sensors, motors and a programmable brick. The newest iteration of the product family is the EV3 programmable brick. Its predecessors are NXT and RCX. In the following we will see how to develop applications for the NXT brick, thus //Mindstorms// will be used exchangeable with //NXT brick//.
12	12
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"]]).
	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	15	----
16	16
17	17	== Download and install leJOS ==
18	18
19		-
	19	+Download and extract the newest archives for your Operating System from [[Sourceforce>>url:http://sourceforge.net/projects/nxt.lejos.p/files/||shape="rect"]].
20	20
21		-----
	21	+The further installation is explained in detail at [[http:~~/~~/www.lejos.org/nxt/nxj/tutorial/Preliminaries/GettingStarted.htm>>url:http://www.lejos.org/nxt/nxj/tutorial/Preliminaries/GettingStarted.htm||shape="rect"]].
22	22
23		-== The Eclipse plugin for leJOS ==
	23	+=== Known issues ===
24	24
25		-Todo
	25	+On Linux there is an issue when uploading the firmware because of a kernel module ([[http:~~/~~/ubuntuforums.org/showthread.php?t=1123633>>url:http://ubuntuforums.org/showthread.php?t=1123633||shape="rect"]]). If you can't upload the firmware with your Linux OS, add **blacklist cdc_acm**{{code language="none"}}{{/code}} at the very end of the file **{{code language="none"}}/etc/modprobe.d/blacklist.conf{{/code}}**. Afterwards execute **{{code language="none"}}sudo rmmod cdc_acm{{/code}}**. This will remove the cdc_acm module from the kernel and prevent its restart. Now try to flash the firmware again.
26	26
27	27	----
28	28
29		-== Flash the leJOS firmware ==
	29	+== Test the Mindstorm ==
30	30
31		-Todo
	31	+A simple Hello World application for the Mindstorms is developed as part of the leJOS tutorial [[http:~~/~~/www.lejos.org/nxt/nxj/tutorial/Preliminaries/FirstProgram.htm>>url:http://www.lejos.org/nxt/nxj/tutorial/Preliminaries/FirstProgram.htm||shape="rect"]]
32	32
33		-=== Known issues ===
	33	+If this works with your device, you are able to start using KIELER to develop applications for the NXT brick.\\
34	34
35		-Flash firmware issue on Linux: sudo rmmod cdc_acm
36		-
37	37	----
38	38
39		-== Test the Mindstorm ==
	37	+== The Eclipse plugin for leJOS ==
40	40
41	41	Todo
42	42

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1		-13762725
	1	+13762729

URL

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1		-https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/13762725/LEGO Mindstorms with leJOS and SCCharts
	1	+https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/KIELER/pages/13762729/LEGO Mindstorms with leJOS and SCCharts