Table of Contents
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 CVS Howto, 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 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!
The plnxt docs, automagically regenereted while you sleep 
Trac
Test the new 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 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
% * 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.
Following the black line
% * 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.
SPOOL
Ideas
- communication overhead, time issues
- interrobot communication → groupwork
- thread polling frequency, parameter?
- bricku UI (Buttons/screen) support → future work
NXT USB Linux
- solution: copy and paste this scrpit to root console
- test the
nexttoolform nbc, register and download here - NXT in Python, could be a reference for Prolog?
- a simple shell using the above