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?????? NXC?NXT

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NXC NXT * * * * * * * * * ROBOLAB ROBOLAB was originally developed by Tufts University for LEGO for the first generation LEGO ... – PowerPoint PPT presentation

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Title: ?????? NXC?NXT

1
???

?????? NXC?NXT

2
??????

NXC-??LEGO?????C??
BricxCC-?????????
???????
????
???
??
??I/O??

3
????

?????? ??????? ??
A Study of Developing the Technological Curiosity
Inventory and Its Application to LEGO Hands-on
Learning.
???? ???? ??
?????? ?????? ????????
?????????
Educational Robot tutorial and curriculum design
Mobile Robot
Robotarm

4
CAVE????

2009?? ?????? NXC?NXT, ?? C?????LEGO NXT?????
2008??CAVE ????? ??????, ???????????. ??C, Java,
LabVIEW?????.
20002007 ????? ???????

5
CAVE????

???? Comprehensive LEGO Silver book LEGO?????
???? Darkside of LEGO NXT LabVIEW killer apps.
???? Java being leJOS on NXT
Work on I2C devices
????????

6
????CAVE

Blog CAVE LEGO
Youtube allelujahnissin
Picasa allelujahnissin
facebook allelujahnissin

7
??????

??????????????
?????? LEGO NXT
PC-based robot
Robotarm
??????

8
LEGO MindStorms NXT
9

NXT?RCX??

NXT
RCX

????
???
???
????
???
I/O??
LCD
????

1999 Hitachi H8/3292 ???? 8K ROM
32KRAM ????? 2 wire connector system
3????,3???? 43????? 3??? x 6 RCX 2.0?????
2005 32??ARM7????,8??????? 256 K?????, 64 K
RAM4 K?????, 512 B RAM USB 2.0 (PC NXT),?? 6
wire digital platform. 4????,3???? 64 x
100????????????? 3??? x 6 ?????
10
Mindstorms (NXT-G)
11
Robolab
12
RobotC
13
NXJ (Java)
14
LabVIEW
15
NXC?NXT-G??
NXT-G
NXC
???(BrixCC) 12??? ???? http//bricxcc.sourceforg
e.net/ ? ????? ?? ????
???? ???? ???? ??????? ???? ??? ??
??? 8??? ????? ? ?? ?? ????
16
Programming interface

Graphical

Text based

NXT-G
MicroSoft
Robotic Developer Studio
National Instruments
LabVIEW NXT toolkit

NXC
RobotC
Java
Others PbLua, php

17
Brief comparison
LabVIEW
MSRDS
??
Java
NXC
NXT-G
????
18
NXC

Not eXactly C by John C. Hansen.
Bricx Command Center (FREE!)
C-based language
Highly integrated with 3rd party I/O devices.

NXT????

USB ???
???(??)

??
USB
??
??????
??

??
??/??
???
??
??/??
???(???)
20
Bricx Command Center
21
Important settings and interfaces

Preferences
compiler, font, code completion.
Direct control
Watching the brick
Brick Joystick
NXT Explorer
NXT Screen

22
First Robot
http//ldd.lego.com/
23
First Program
01- 02- 03- 04- 05- 06- 07- 08- 09- task main() OnFwd(OUT_A, 75) OnFwd(OUT_B, 75) Wait(4000) OnRev(OUT_AB, 75) Wait(4000) Off(OUT_AB)
24

F5 Compile
F6 Download
F7 Run

25
Macro
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- define MOVE 1000 define TURN 850 task main() OnFwd(OUT_BC,75) Wait(MOVE) OnRev(OUT_BC,75) Wait(TURN) Off(OUT_BC)
26
Repeat loop
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- define MOVE 1000 define TURN 850 task main() repeat(5) OnFwd(OUT_BC,75) Wait(MOVE) OnRev(OUT_BC,75) Wait(TURN) Off(OUT_BC)
27
Nested loop
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- 18- define MOVE 1000 define TURN 850 task main() repeat(2) PlayTone(440,50) Wait (1000) repeat (5) OnFwd(OUT_BC,75) Wait(MOVE) OnRev(OUT_BC,75) Wait(TURN) Off(OUT_BC)

28
Control Structure and Variable
29
Variable
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- task main() int a 3 while(a lt 5) OnFwd(OUT_BC,75) Wait(1000) PlayTone(440,50) a Off(OUT_BC)
30

while

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- 18- 19- define MOVE_TIME 500 define TURN_TIME 360 task main() while(true) OnFwd(OUT_AC, 75) Wait(MOVE_TIME) if (Random(2) 0) OnRev(OUT_C, 75) else OnRev(OUT_A, 75) Wait(TURN_TIME)
31

do while

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- int move_time, turn_time, total_time task main() total_time 0 do move_time Random(1000) turn_time Random(1000) OnFwd(OUT_AC, 75) Wait(move_time) OnRev(OUT_C, 75) Wait(turn_time) total_time move_time total_time turn_time while (total_time lt 20000) Off(OUT_AC)
32
SENSORS
33
Touch sensor

?? SetSensorTouch(S1)

33
34
01- 02- 03- 04- 05- 06- 07 08- 09- 10- 11- 12- 13- task main() SetSensor(S1,SENSOR_TOUCH) while(true) OnFwd(OUT_AC, 50) until (SENSOR(S1) 1) OnRev(OUT_AC, 50) Wait( 500) OnFwd(OUT_A, 50) Wait(1000)
35
Sound sensor

?? SetSensorSound(S2)

35
36
01- 02- 03- 04- 05- 06- 07 08- 09- 10- 11- 12- 13- task main() SetSensor(S1,SENSOR_SOUND) while(true) If (SENSOR(S1) gt90) PlayTone(440, 50) Wait( 500)
36
37
Ultrasonic sensor

??SetSensorLowspeed(S4)

37
38
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- 18- 19- 20- 21- 22- 23- 24- 25- 26- 27- 28- 29- define DISTANCE 15 //cm task main() SetSensorLowspeed(IN_4) while(true) OnFwd(OUT_AC,20) if(SensorUS(IN_4) lt DISTANCE) Off(OUT_AC) OnRev(OUT_AC,20) Wait(800) Off(OUT_AC) else if(SensorUS(IN_4) DISTANCE) Off(OUT_AC) PlayTone(440,50) Wait(1000) else if(SensorUS(IN_4) gt DISTANCE) Off(OUT_AC) OnFwd(OUT_AC,20) Wait(800) Off(OUT_AC)
38
39
Rotation sensor
??RotateMotor(OUT_Port , Speed , Degree)
01- 02- 03- 04- 05- 06- 07- 08- task main() int x RotateMotor(OUT_A, 75, 180) // ??180? x MotorTachoCount(OUT_A) NumOut(20, LCD_LINE3, x) Wait(3000)
Give a try! x 180?
40
Light sensor

??SetSensorLight(S3)

40
41
01- 02- 03- 04- 05- 06- 07 08- 09- 10- 11- 12- 13- task main() SetSensorLight(S3) // SetSensor(S1,SENSOR_LIGHT) while(true) ClearScreen() TextOut(0,20,"Light is") NumOut(60,20,Sensor(S3)) if (Sensor(S3) gt40) PlayTone(440, 50) //beep Wait( 200) //0.2 sec
41
42
??? ???????

task
start
Precedes()
mutex Acquire() ? Release()
subroutine
sub FunctionName (data type varible)

inline function
inline int B( ?? )
statements
return x

Macro

????????? define ???????,???????? define
????????????
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- define turning \ OnRev(OUT_B, 75) Wait(3400)OnFwd(OUT_BC, 75) task main() OnFwd(OUT_BC, 75) Wait(1000) turning Wait(2000) turning Wait(1000) turning Off(OUT_BC)
44
??? ?????

NXC????????4??
1.unregulated
2.speed regulation
3.synchronized
4.tachometer-limited

??? ???

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- task main() OnFwd(OUT_AC, 75) Wait(500) Off(OUT_AC) Wait(1000) OnFwd(OUT_AC, 75) Wait(500) Float(OUT_AC)
Off() Float() Coast()
??Off()?,NXT????????????????????????????Float()??,
NXT??????????,????????????????????????????
46

?????(unregulated)

OnFwd() OnRev()
47

????(regulation)

OnFwdReg(???,??,????) OnRevReg (???,??,????)
48

???????

OUT_REGMODE_IDLE OUT_REGMODE_SPEED OUT_REGMODE_S
YNC
49

??????(speed regulation)

OnFwdReg(OUT_C, 40, OUT_REGMODE_SPEED)
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- task main() OnFwdReg(OUT_A, 40, OUT_REGMODE_IDLE) OnFwdReg(OUT_C, 40, OUT_REGMODE_SPEED) while(true) NumOut(10, LCD_LINE1, MotorActualSpeed(OUT_A)) NumOut(10, LCD_LINE2, MotorActualSpeed(OUT_C))
50

????(synchronized)

OnFwdReg(OUT_AC, 40, OUT_REGMODE_SYNC)
51

????IDLE?SPEED?SYNC

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- task main() OnFwdReg(OUT_AC,50,OUT_REGMODE_IDLE) Wait(2000) Off(OUT_AC) PlayTone(4000,50) Wait(1000) ResetTachoCount(OUT_AC) OnFwdReg(OUT_AC,50,OUT_REGMODE_SPEED) Wait(2000) Off(OUT_AC) PlayTone(4000,50) Wait(1000) OnFwdReg(OUT_AC,50,OUT_REGMODE_SYNC) Wait(2000) Off(OUT_AC)
52

??????????

OnFwdSync() OnRevSync()
OnFwdSync()?OnRevSync()???????? OnFwdSync(???,
??,?????)
0 ?? 50 ??????? 100 ???????????
53
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- task main() PlayTone(5000,30) OnFwdSync(OUT_AC,50,0) Wait(1000) PlayTone(5000,30) OnFwdSync(OUT_AC,50,50)//?????50 Wait(1000) PlayTone(5000,30) OnFwdSync(OUT_AC,50,-50) //????-50 Wait(1000) PlayTone(5000,30) OnRevSync(OUT_AC,50, -100) //????,????-100 Wait(1000) Off(OUT_AC)
54

?????(tachometer-limited)

RotateMotor(???,??,??)
55
01- 02- 03- 04- 05- 06- 07- 08- task main() RotateMotor(OUT_A, 50,360) //A???????? RotateMotor(OUT_A, 50,-360) //A???????? RotateMotor(OUT_A, -50,-360) //A???????? RotateMotor(OUT_C, 50,-360) //C???????? RotateMotor(OUT_C, -50,360) //C????????
56