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mindstorms:plnxt:plnxtdev:start [2009/02/20 12:21] gjn |
mindstorms:plnxt:plnxtdev:start [2013/01/17 12:14] esimon Page moved from plnxt:plnxtdev:start to mindstorms:plnxt:plnxtdev:start |
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| See example [[https://hekate.ia.agh.edu.pl/webtrac/hades/trac.vc/chngview?cn=94|here]] | 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 ===== | ===== SPOOL ===== | ||
| + | ==== Ideas ==== | ||
| + | * communication overhead, time issues | ||
| + | * interrobot communication -> groupwork | ||
| + | * thread polling frequency, parameter? | ||
| + | * bricku UI (Buttons/screen) support -> future work | ||
| ==== NXT USB Linux ==== | ==== NXT USB Linux ==== | ||
| Line 67: | Line 190: | ||
| FIXME move to the mindstorms hp | FIXME move to the mindstorms hp | ||
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