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% % % Author: Pawel Gutowski pawel.gutowski@gmail.com % % University of Science and Technology AGH in Cracow % % 2008 % % % % % % PortName = 'S1' or % % 'S2' or % % 'S3' or % % 'S4' % % % % MotorName = 'A' or % % 'B' or % % 'C' % :- module(nxt_iCmd,[
nxt_iCmd_open/0, nxt_iCmd_close/0, nxt_iCmd_distance/2, nxt_iCmd_pressed/2, nxt_iCmd_lightPercentage/2, nxt_iCmd_LED/2, nxt_iCmd_loudness/2, nxt_iCmd_batteryMilliVolt/1, nxt_iCmd_playSoundFile/2, nxt_iCmd_stopPlayingSound/0, nxt_iCmd_playTone/2, % motors nxt_iCmd_stopMotor/1, nxt_iCmd_setMotorSpeed/2, nxt_iCmd_getMotorSpeed/2, nxt_iCmd_rotateMotorToAngle/3, nxt_iCmd_getMotorAngle/2, nxt_iCmd_resetMotorAngle/1 ]).
nxt_iCmd_open:-
writeln('Opening connection...'),
jpl_call( 'icommand.nxt.comm.NXTCommand' , 'open', [], _),
writeln('Configuring connection...'),
jpl_call( 'icommand.nxt.comm.NXTCommand' , 'setVerify', [@(true)], _),
writeln('Connection established!').
nxt_iCmd_close:-
writeln('Closing connection...'),
jpl_call( 'icommand.nxt.comm.NXTCommand' , 'close', [], _),
writeln('Connection is closed.').
nxt_iCmd_distance(PortName, Dist):-
writeln('Getting port handle...'),
jpl_get('icommand.nxt.SensorPort', PortName, PortHandle),
writeln('Creating ultrasonic sensor object...'),
jpl_new('icommand.nxt.UltrasonicSensor', [PortHandle], UltraSonic),
writeln('Reading distance from ultrasonic sensor...'),
jpl_call( UltraSonic, 'getDistance', [], Dist),
writeln('Reading finished.').
nxt_iCmd_pressed(PortName, Pressed):-
writeln('Getting port handle...'),
jpl_get('icommand.nxt.SensorPort', PortName, PortHandle),
writeln('Creating touch sensor object...'),
jpl_new('icommand.nxt.TouchSensor', [PortHandle], TouchSensor),
writeln('Reading touch sensor state...'),
jpl_call( TouchSensor, 'isPressed', [], Pressed),
writeln('Reading finished.').
nxt_iCmd_lightPercentage(PortName, LightPercentage):-
writeln('Getting port handle...'),
jpl_get('icommand.nxt.SensorPort', PortName, PortHandle),
writeln('Creating light sensor object...'),
jpl_new('icommand.nxt.LightSensor', [PortHandle], LightSensor),
writeln('Reading light percentage...'),
jpl_call( LightSensor, 'getLightPercent', [], LightPercentage),
writeln('Reading finished.').
nxt_iCmd_LED(PortName, IsON):-
writeln('Getting port handle...'),
jpl_get('icommand.nxt.SensorPort', PortName, PortHandle),
writeln('Creating light sensor object...'),
jpl_new('icommand.nxt.LightSensor', [PortHandle], LightSensor),
writeln('Setting LED state...'),
nxt_iCmdHelper_setLEDState(LightSensor, IsON),
writeln('Setting finished.').
nxt_iCmd_loudness(PortName, Loudness):-
writeln('Getting port handle...'),
jpl_get('icommand.nxt.SensorPort', PortName, PortHandle),
writeln('Creating Sound sensor object...'),
jpl_new('icommand.nxt.SoundSensor', [PortHandle], SoundSensor),
writeln('Reading loudness...'),
jpl_call( SoundSensor, 'getdBA', [], Loudness),
writeln('Reading finished.').
% % Funkcje „dodatkowe” % % nxt_iCmd_batteryMilliVolt(MilliVolt):-
writeln('Checking battery millivoltage...'),
jpl_call( 'icommand.nxt.Battery' , 'getVoltageMilliVolt', [], MilliVolt).
% % Np: iCmd_playSoundFile('Good Job.rso', @(true)). %
nxt_iCmd_playSoundFile(SoundName, Repeat):-
writeln('Starting sound playing...'),
jpl_call( 'icommand.nxt.Sound' , 'playSoundFile', [SoundName, Repeat], _).
nxt_iCmd_stopPlayingSound:-
writeln('Stopping sound playing...'),
jpl_call( 'icommand.nxt.Sound' , 'stopSoundPlayback', [], _).
% % Frequency [Hz] % Duration [ms] %
nxt_iCmd_playTone(Frequency, Duration):-
writeln('Starting tone playing...'),
jpl_call( 'icommand.nxt.Sound' , 'playTone', [Frequency, Duration], _).
% % Funkcja „stop()” działa - z kodu źródłowego iCommand wynika, że jest to nic innego % jak ustawienie prędkości (mocy?) silnika na 0. % Czy nie istenieje ryzyko spalenia silnika? %
nxt_iCmd_stopMotor(MotorName):-
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
jpl_call(MotorHandle, 'stop', [], _).
% % Speed [degrees/sec]. % Kierunek obrotu okresla znak +/- predkosci. %
nxt_iCmd_setMotorSpeed(MotorName, Speed):-
writeln('Setting motor speed...'),
Speed >= 0,
writeln('Setting forward motor speed...'),
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
jpl_call( MotorHandle, 'setSpeed', [Speed], _),
jpl_call( MotorHandle, 'forward', [], _),
writeln('Motor is now moving.').
nxt_iCmd_setMotorSpeed(MotorName, Speed):-
writeln('Setting motor speed...'),
Speed < 0,
writeln('Setting backward motor speed...'),
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
writeln('Counting module of Speed...'),
NewSpeed is -Speed,
write('Module of speed is: '),
writeln(NewSpeed),
writeln('Setting motor speed...'),
jpl_call( MotorHandle, 'setSpeed', [NewSpeed], _),
writeln('Starting the backward movement of motor...'),
jpl_call( MotorHandle, 'backward', [], _),
writeln('Motor is now moving.').
% % UWAGA: % Przy odczycie nie bedzie znany kierunek, lecz tylko predkosc silnika! % iCommand nie daje możlwiości odczytania kierunku obrotu %
nxt_iCmd_getMotorSpeed(MotorName, Speed):-
writeln('Reading actual motor speed...'),
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
jpl_call(MotorHandle, 'isMoving', [], IsMoving),
IsMoving == @(true),
jpl_call(MotorHandle, 'getSpeed', [], Speed).
nxt_iCmd_getMotorSpeed(MotorName, Speed):-
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
jpl_call(MotorHandle, 'isMoving', [], IsMoving),
IsMoving == @(false),
Speed = 0.
nxt_iCmd_rotateMotorToAngle(MotorName, Angle, Speed):-
writeln('Rotating motor to...'),
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
jpl_call( MotorHandle, 'setSpeed', [Speed], _),
jpl_call( MotorHandle, 'rotateTo', [Angle, @(true)], _),
writeln('Motor is now moving.').
nxt_iCmd_getMotorAngle(MotorName, Angle):-
writeln('Reading actual tacho count...'),
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
jpl_call(MotorHandle, 'getTachoCount', [], Angle).
nxt_iCmd_resetMotorAngle(MotorName):-
writeln('Resetting tacho count...'),
jpl_get('icommand.nxt.Motor', MotorName, MotorHandle),
jpl_call(MotorHandle, 'resetTachoCount', [], _).
% % HELPERS %
nxt_iCmdHelper_setLEDState(LightSensor, IsON):-
writeln('Checking if LED should be turned ON...'),
IsON == @(true),
writeln('Yes, LED should be turned ON - turning ON...'),
jpl_call( LightSensor, 'activate', [], _),
writeln('LED has been turned ON.').
nxt_iCmdHelper_setLEDState(LightSensor, IsON):-
writeln('Checking if LED should be turned ON...'),
IsON == @(false),
writeln('No, LED should be turned OFF - turning OFF...'),
jpl_call( LightSensor, 'passivate', [], _),
writeln('LED has been turned OFF.').
