--- pl:miw:miw08_mindstormscontrolj:nxt_icommand.pl [2008/05/20 12:25]
gjn
+++ pl:miw:miw08_mindstormscontrolj:nxt_icommand.pl [2019/06/27 15:50] (aktualna)
@@ Linia 1: / Linia 1: @@
+<code prolog>
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%                                                                        %
+% 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.').
+</code>

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