--- pl:miw:miw08_mindstormscontrols [2008/03/18 14:09]
gjn proto lego!
+++ pl:miw:miw08_mindstormscontrols [2019/06/27 15:50] (aktualna)
@@ Linia 19: / Linia 19: @@
   * wysyłamy z Prologu znaki na port szeregowy, co powoduje akcje robota, np. ruch
   * http://gollem.science.uva.nl/SWI-Prolog/Manual/IO.html
 ===== 080401 =====
@@ Linia 24: / Linia 25: @@
   * prototyp komunikacji?
   * serial port w prologu pod win?
+===== 080408 =====
+  * zapis protokołu kom w prologu tak jak poniżej
+  * upload do wiki opisu FIXME
+  * testy komunikacji, flush?
+  * [[https://akela.mendelu.cz/swi-prolog/syntax.html|zapis szesnastkowy w ISO Prologu]], proszę się upewnić, że to (hexy) się już nigdzie nie gubi przy ew. konwersji...
+===== 080415 =====
+  * test komunikacji!!!!!!!
+  * całośc kom 2 kier na kilku poleceniach
 ====== Projekt ======
+<code>
+% C = getbatterylevel
+%nxt_com(getbatterylevel, Ret)
+nxt_com(C) :-
+%  nxt_open(Fd),
+  nxt_prot(C, NxtCmd, RL), %Rl=4 bl
+  nxt_send(Fd,NxtCmd),
+  nxt_recv(Fd,RL,Resp),
+  nxt_resp(C, Resp, X). % X = VLMV
+%nxt_open(Fd) :-
+%
+nxt_send(Fd,NxtCmd) :-
+nxt_recv(Fd,R) :-
+nxt_resp(getbatterylevel)
+</code>
+<code>
+% uwaga!
+% komp w pldoc!
+% http://www.swi-prolog.org/packages/pldoc.html
+% przemyslec, co da uzycie skladni wiki!
+% czy porty dla sensorow sa abcd, czy 1,2,3,4?
+</code>
+Z dokumentacji:
+  * Byte 2: Output port (Range: 0 - 2)
+  * Byte 2: Input port (Range: 0 - 3)
+Z nxt++:
+  * Motor  A - 0;
+  * Motor  B - 1;
+  * Motor  C - 2;
+  * Sensor 1 - 0;
+  * Sensor 2 - 1;
+  * Sensor 3 - 2;
+  * Sensor 4 - 3;
+<code>
+% póki co:
+nxt_port(0,['\x00\']). % sprawdzić!
+nxt_port(1,['\x01\']).
+nxt_port(2,['\x02\']).
+nxt_sensor_type(no_sensor, ['\x00\']).
+nxt_sensor_type(switch, ['\x01\']).
+nxt_sensor-type(temperature, ['\x02\']).
+nxt_sensor-type(reflection, ['\x03\']).
+nxt_sensor-type(angle, ['\x04\']).
+nxt_sensor-type(light_active, ['\x05\']).
+nxt_sensor-type(light_inactive, ['\x06\']).
+nxt_sensor-type(sound_db, ['\x07\']).
+nxt_sensor-type(sound_dba, ['\x08\']).
+nxt_sensor-type(custom, ['\x09\']).
+nxt_sensor-type(low_speed, ['\x0A\']).
+nxt_sensor-type(low_speed_9v, ['\x0B\']).
+nxt_sensor-type(no_of_sensor_types, ['\x0C\']).
+nxt_sensor_mode(rawmode, ['\x00\']).
+nxt_sensor_mode(booleanmode, ['\x20\']).
+nxt_sensor_mode(transitioncntmode, ['\x40\']).
+nxt_sensor_mode(periodcountermode, ['\x60\']).
+nxt_sensor_mode(pctfullscalemode, ['\x80\']).
+nxt_sensor_mode(celciusmode, ['\xA0\']).
+nxt_sensor_mode(fahrenheitmode, ['\xC0\']).
+nxt_sensor_mode(anglestepmode, ['\xE0\']).
+nxt_sensor_mode(slopemask, ['\x1F\']).
+nxt_sensor_mode(modemask, ['\xE0\']). % zbieżność z drugim powyżej, co z tym zrobić ?
+nxt_mode(motoron, ['\x01\']).
+nxt_mode(brake, ['\x02\']).
+nxt_mode(regulated, ['\x04\']).
+nxt_regulation_mode(regulation_mode_idle, ['\x00\']).
+nxt_regulation_mode(regulation_mode_motor_speed, ['\x01\']).
+nxt_regulation_mode(regulation_mode_motor_syns, ['\x02\']).
+nxt_run_state(motor_run_state_idle, ['\x00\']).
+nxt_run_state(motor_run_state_rampup, ['\x10\']).
+nxt_run_state(motor_run_state_running, ['\x20\']).
+nxt_run_state(motor_run_state_rampdown, ['\x40\']).
+% w nxt++ nie wysyłają na początku bajtu zerowego, to byłoby logiczne, ponieważ zawsze na początku będzie startprogram... :
+nxt_cmd(startprogram, ['\x00\','\x00\']). % czy dopisać wszędzie nxt_cmd(Cmd, ['\x80\',_]).  ???
+nxt_cmd(stopprogram, ['\x00\','\x01\']).
+nxt_cmd(playsoundfile, ['\x00\','\x02\']).
+nxt_cmd(playtone, ['\x00\','\x03\']).
+nxt_cmd(setoutputstate, ['\x00\','\x04\']).
+nxt_cmd(setinputmode, ['\x00\','\x05\']).
+nxt_cmd(getoutputstate, ['\x00\','\x06\']).
+nxt_cmd(getinputvalues, ['\x00\','\x07\']).
+nxt_cmd(resetinputscaledvalue, ['\x00\','\x08\']).
+nxt_cmd(messagewrite, ['\x00\','\x09\']).
+nxt_cmd(resetmotorposition, ['\x00\','\x0A\']).
+nxt_cmd(getbatterylevel, ['\x00\','\x0B\']).
+nxt_cmd(stopsoundplayback, ['\x00\','\x0C\']).
+nxt_cmd(keepalive, ['\x00\','\x0D\']).
+nxt_cmd(lsgetstatus, ['\x00\','\x0E\']).
+nxt_cmd(lswrite, ['\x00\','\x0F\']).
+nxt_cmd(lsread, ['\x00\','\x10\']).
+nxt_cmd(getcurrentprogramname, ['\x00\','\x11\']).
+nxt_cmd(messageread, ['\x00\','\x12\']).
+%% nxt_prot(+Command, -NxtCmd, +Port, +Type, +Mode, +Etc)
+nxt_prot(startprogram, NxtCmd, FileName) :-
+	nxt_cmd(startprogram,Cmd),
+	?
+nxt_prot(stopprogram, NxtCmd) :-
+	nxt_cmd(stopprogram, Cmd),
+	flatten([Cmd], NxtCmd).
+nxt_prot(playsoundfile, NxtCmd, Loop, FileName) :-
+	nxt_cmd(playsoundfile, Cmd),
+	boolean(Loop),
+	LoopCmd = Loop,
+	?
+nxt_prot(playtone, NxtCmd, Frequency, Duration) :-
+	nxt_cmd(playtone, Cmd),
+	FrequencyCmd1 is Frequency mod 256,
+	FrequencyCmd2 is (Frequency - (Frequency mod 256)) / 256, % wzięte z nxt++
+	DurationCmd1 is Duration mod 256,
+	DurationCmd2 is (Duration - (Duration mod 256)) / 256,
+	flatten([Cmd, FrequencyCmd1, FrequencyCmd2, DurationCmd1, DurationCmd2], NxtCmd). % <- poprawić na listy!
+nxt_prot(setoutputstate, NxtCmd, Port, PowerSetPoint, Mode, RegulationMode, TurnRatio, RunState, TachoLimit) :-
+	nxt_cmd(setoutputstate,Cmd),
+	nxt_port(Port, PortCmd),
+	integer(PowerSetPoint), PowerSetPoint >= -100, PowerSetPoint < 101,
+	nxt_mode(Mode, ModeCmd),
+	nxt_regulation_mode(RegulationMode, RegulationModeCmd),
+	integer(TurnRatio), TurnRatio >= -100, TurnRatio < 101,
+	nxt_run_state(RunState, RunStateCmd),
+	TachoLimit < (5B value ?),
+	flatten([Cmd, Port, PowerSetPoint, Mode, RegulationMode, TurnRatio, RunState, TachoLimit], NxtCmd).
+% return a nxt command with a given port, type, and mode (for setinputmode)
+nxt_prot(setinputmode, NxtCmd, Port, Type, Mode) :-
+	nxt_cmd(setinputmode,Cmd),
+	nxt_port(Port, PortCmd),
+	nxt_sensor_type(Type, TypeCmd),
+	nxt_sensor_mode(Mode, ModeCmd),
+	flatten([Cmd, PortCmd,TypeCmd,ModeCmd],NxtCmd).
+nxt_prot(getoutputstate, NxtCmd, Port) :-
+	nxt_cmd(getoutputstate, Cmd),
+	nxt_port(Port, PortCmd),
+	flatten([Cmd, PortCmd], NxtCmd).
+nxt_prot(getinputvalues, NxtCmd, Port) :-
+	nxt_cmd(getinputvalues, Cmd),
+	nxt_port(Port, PortCmd),
+	flatten([Cmd, PortCmd], NxtCmd).
+nxt_prot(resetinputscaledvalue, NxtCmd, Port) :-
+	nxt_cmd(resetinputscaledvalue, Cmd),
+	nxt_port(Port, PortCmd),
+	flatten([Cmd, PortCmd], NxtCmd).
+nxt_prot(messagewrite, NxtCmd, Inbox, Size,Data) :-
+	nxt_cmd(messagewrite,Cmd),
+	integer(Inbox), Inbox < 10, Inbox >= 0,
+	length(Data,L),
+	Size is L + 3,
+	Size < 60, % vide doc!
+	flatten([Cmd,Inbox,Size,Data],NxtCmd).
+nxt_prot(resermotorposition, NxtCmd, Port, IsRelative) :-
+	nxt_cmd(resermotorposition, Cmd),
+	nxt_port(Port, PortCmd),
+	boolean(IsRelative),
+	IsRelativeCmd = IsRelative,
+	flatten([Cmd, , PortCmd, IsRelativeCmd], NxtCmd).
+nxt_prot(getbatterylevel, NxtCmd) :-
+	nxt_cmd(getbatterylevel, Cmd),
+	flatten([Cmd], NxtCmd).
+nxt_prot(stopsoundplayback, NxtCmd) :-
+	nxt_cmd(stopsoundplayback, Cmd),
+	flatten([Cmd], NxtCmd).
+nxt_prot(keepalive, NxtCmd) :-
+	nxt_cmd(keepalive, Cmd),
+	flatten([Cmd], NxtCmd).
+nxt_prot(lsgetstatus, NxtCmd, Port) :-
+	nxt_cmd(lsgetstatus, Cmd),
+	nxt_port(Port, PortCmd),
+	flatten([Cmd, PortCmd], NxtCmd).
+nxt_prot(lswrite, NxtCmd, Port, TxDataLenght, RxDataLength, TxData) :-
+	nxt_cmd(lswrite, Cmd),
+	nxt_port(Port, PortCmd),
+	length(TxData,L),
+	TxDatalength is L + 4,
+	TxDataLength < (no właśnie, ile?),
+	flatten([Cmd, Port, TxDataLength, RxDataLength, TxData], NxtCmd).
+nxt_prot(lsread, NxtCmd, Port) :-
+	nxt_cmd(lsread, Cmd),
+	nxt_port(Port, PortCmd),
+	flatten([Cmd, PortCmd], NxtCmd).
+nxt_prot(getcurrentprogramname, NxtCmd) :-
+	nxt_cmd(getcurrentprogramname, Cmd),
+	flatten([Cmd], NxtCmd).
+nxt_prot(mesageread, NxtCmd, RemoteInbox, LocalInbox, Remove) :-
+	nxt_cmd(messageread, Cmd),
+	integer(RemoteInbox), RemoteInbox >= 0, RemoteInbox < 10,
+	integer(LocalInbox), LocalInbox >= 0, LocalInbox < 10,
+	boolean(Remove),
+	RemoveCmd = Remove,
+	flatten([Cmd, RemoteInbox, LocalInbox, Remove], NxtCmd).
+% tu nalezy jeszcze sprawdzic null termination vide dokuemntacja, ew dodac jak go nie ma!
+% nxt_prot(setinputmode,C,a,switch,rawmode).
+% nxt_prot(messagewrite,C,3,S,['a','l','a']).
+% nxt_prot(messagewrite,C,3,_,['a','l','a']).
+% aha, prosze przemyslec i potestowac, czy nie wystarczy powyzej pisac:
+% nxt_prot(COSTAM, NxtCmd, Inbox, Size,Data) :-
+%	nxt_cmd(COSTAM,Cmd),
+% na oko chyba tak!
+</code>
+FIXME {{:pl:miw:appendix_2-lego_mindstorms_nxt_direct_commands.pdf|:pl:miw:appendix_2-lego_mindstorms_nxt_direct_commands.pdf}}
+FIXME: proszę dopisać URL gdzie za strony LEGO Pan to pobrał, czy to jest w BT dev guide?
 ===== Milestones =====
   * komunikacja z nxt z prolog, potrafimy wyslac trywialne rozkazy, np. obroc silniczkem nr. 2

pl/miw/miw08_mindstormscontrols.1205845766.txt.gz · ostatnio zmienione: 2019/06/27 15:58 (edycja zewnętrzna)

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