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mindstorms:plnxt:plnxtdev:start [2009/02/17 13:16] gjn |
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| - | ====== PlNXT NXT API for Prolog Development ====== | + | ====== PlNXT Development ====== |
| - | A page dedicated to the coordination of the Hekate Project Prolog API for Mindstorms. | + | A page dedicated to the coordination of the Hekate Project Prolog API for Mindstorms, a.ka. //PlNXT// |
| - | + | ||
| - | + | ||
| - | + | ||
| - | + | ||
| - | ===== 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=20 | + | |
| - | FIXME move to the mindstorms hp | + | |
| ===== CVS access ===== | ===== CVS access ===== | ||
| Line 54: | Line 34: | ||
| FIXME | FIXME | ||
| - | The [[https://hekate.ia.agh.edu.pl/webdoxy/hqed/doc/|DoxyGen doc]] for Hqed, automagically regenereted while you sleep :-) | + | The //plnxt docs//, automagically regenereted while you sleep :-) |
| Line 68: | Line 48: | ||
| 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]] | ||
| - | ===== HeDEs ===== | + | ===== Milestones ===== |
| - | HeKatE developers, update info [[hekatedev:hades|here]]. | + | ==== 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 | ||
