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mindstorms:plnxt:plnxtdev:start [2013/01/17 12:13] esimon Page moved from plnxtdev:start to plnxt:plnxtdev:start |
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| - | ====== 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 | ||
