====== PlNXT Development ======

A page dedicated to the coordination of the Hekate Project Prolog API for Mindstorms, a.ka. //PlNXT//

===== CVS access =====
Some docs: a sane [[http://furryland.org/~mikec/cvs.html|CVS Howto]], [[http://ximbiot.com/cvs/manual/|CVS Manual]].

  export CVSROOT=:ext:pholownia@charon.ia.agh.edu.pl/mnt/cvs/cvs-hades
  export CVS_RSH=ssh

Example (from student):
  export CVSROOT=:ext:pholownia@charon.ia.agh.edu.pl/mnt/cvs/cvs-hades
  export CVS_RSH=ssh
  cvs co plnxt

Locally on charon:
  export CVSROOT=/mnt/cvs/cvs-hades
  cvs co plnxt

When updating from CVS:
  cvs update

Commiting changes
  cvs ci

Adding files (before commit!):
  cvs add file

===== Source OnLine Access =====

The [[https://hekate.ia.agh.edu.pl/webcvs/cvs-hades/view.vc|Hades CVS]] online.

Log in with the same user/password as in wiki, you need to be in the appropriate cvs group at charon for this to work!

FIXME
The //plnxt docs//, automagically regenereted while you sleep :-)


===== Trac =====
Test the new [[https://hekate.ia.agh.edu.pl/webtrac/hades/trac.vc|CVStrac]] here.

Log in with the same user/password as in wiki, you need to be in the appropriate cvs group at charon for this to work!

When making a commit related to a Trac ticket, write something like
  Fix for ticket #N, such as...
where ''N'' is the ticker number!

See example [[https://hekate.ia.agh.edu.pl/webtrac/hades/trac.vc/chngview?cn=94|here]]

===== Milestones =====
==== M0 ====
20.02.2009: __DONE__ initial

==== M1 ====
06.03.2009: F1, T1?

==== M2 ====
20.03.2009: F2

==== M3 ====
06.02.2010: F3

===== Functionality =====
==== F1 ====
  * fix jsi2008 bugs
  * make sure icommand works

==== F2 ====
  * run and debug on freerunner
  * control concepts -> S. Nowaczyk
==== F3 ====
control //several// robots!

==== F ====
client-server

==== F ====

===== Technicals =====
==== T1 ====
  * on-line docs



===== Algorithm examples =====

==== Square, avoiding obstacles ====

<code prolog>
%  * Robot does a square line move.
%  * It will stop and turn around, if senses an obstacle. After that it continues square move.
%  * Stops after typing "stop."

% Type: start.

:- consult('../plnxt').

start :-
	nxt_open,
	thread_create(rectangle_start,_,[detached(true)]).

rectangle_start :-
	trigger_create_noreturn(_,check_distance,obstacle),
	rectangle_loop.

check_distance :-
	nxt_ultrasonic(Value,force),
	Value < 15.

obstacle :-
	nxt_stop,
	nxt_rotate(350,180),
	thread_create(rectangle_start,_,[detached(true)]).

rectangle_loop :-
	nxt_go_cm(350,40),
	nxt_rotate(350,100),
	rectangle_loop.

stop :-
	trigger_killall,
	nxt_stop,
	nxt_close.
</code>

==== Following the black line ====

<code prolog>
%  * Robot follows the black line on the test pad clockwise.
%  * Stops after typing "stop."

% Type: start.

:- consult('../plnxt').

start :-
	nxt_open,
	nxt_light_LED(activate),
	thread_create(follow_line,_,[detached(true)]).

follow_line :-
	trigger_create(_,check_colour,adjust),
	nxt_go(350).

check_colour :-
	nxt_light(Value,force),
	Value > 50.

am_i_on_track(Value) :-
	Value < 50,
	follow_line.

am_i_on_track(_) :-
	adjust.

adjust :-
	nxt_stop,
	nxt_rotate(350,5),
	nxt_light(Value),
	am_i_on_track(Value).

stop :-
	trigger_killall,
	nxt_stop,
	nxt_close.
</code>

===== SPOOL =====
==== Ideas ====
  * communication overhead, time issues
  * interrobot communication -> groupwork
  * thread polling frequency, parameter?
  * bricku UI (Buttons/screen) support -> future work

==== NXT USB Linux ====

  * linux+ usb http://forums.nxtasy.org/index.php?showtopic=2143 http://forums.nxtasy.org/index.php?s=114db3461178f97b9e60e6505172e10c&showtopic=2240&st=0&p=17166&#entry17166
  * libnxt http://jgraef.bplaced.de/libnxt/ http://forums.nxtasy.org/index.php?s=bfec39b7cf29627892175f8a1d8dd819&showtopic=1417&st=0&p=11726&#entry11726
  * nxtfs http://jgraef.bplaced.net/nxtfs/doc.html http://forums.nxtasy.org/index.php?s=bdb63f5b93dbefc8c4a428be53e5a157&showtopic=2083&st=0&p=16248&#entry16248
  * http://www.juju.org/articles/2006/10/22/bluetooth-serial-port-to-nxt-in-linux
  * solution: copy and paste {{:mindstormsdev:nxt-lego.txt|this scrpit}} to root console :-)
  * test the ''nexttool'' form nbc, register and [[http://forums.nxtasy.org/index.php?showtopic=2143&st=0|download here]]
  * [[http://home.comcast.net/~dplau/nxt_python/index.html|NXT in Python]], could be a reference for Prolog?
   * a simple [[http://xorff.blogspot.com/2007/01/introducing-nxtsh-command-line.html|shell]] using the above

=== Extra links ===
  * http://www.jstuber.net/lego/nxt-programming/index.html
  * http://www.teamhassenplug.org/NXT/NXTSoftware.html
  * http://www.techbricks.nl/index.php?option=com_weblinks&view=category&id=19&Itemid=63&limitstart=2

FIXME move to the mindstorms hp