?????? NXC?NXT

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???

• ?????? NXC?NXT

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??????

1. NXC-??LEGO?????C??
2. BricxCC-?????????
3. ???????
4. ????
5. ???
6. ??
7. ??I/O??

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????

• ?????? ??????? ??
• A Study of Developing the Technological Curiosity
  Inventory and Its Application to LEGO Hands-on
  Learning.
• ???? ???? ??
• ?????? ?????? ????????
• ?????????
• Educational Robot tutorial and curriculum design
• Mobile Robot
• Robotarm

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CAVE????

• 2009?? ?????? NXC?NXT, ?? C?????LEGO NXT?????
• 2008??CAVE ????? ??????, ???????????. ??C, Java,
  LabVIEW?????.
• 20002007 ????? ???????

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CAVE????

• ???? Comprehensive LEGO Silver book  LEGO?????
• ???? Darkside of  LEGO NXT LabVIEW killer apps.
  
• ???? Java being leJOS on NXT
• Work on I2C devices
• ????????

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????CAVE

• Blog CAVE LEGO
• Youtube allelujahnissin
• Picasa allelujahnissin
• facebook allelujahnissin

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??????

• ??????????????
• ?????? LEGO NXT
• PC-based robot
• Robotarm
• ??????

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LEGO MindStorms NXT
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• NXT?RCX??

NXT
RCX

• ????
• ???
• ???
• ????
• ???
• I/O??
• LCD
• ????

1999 Hitachi H8/3292 ???? 8K ROM
32KRAM ????? 2 wire connector system
3????,3???? 43????? 3??? x 6 RCX 2.0?????
2005 32??ARM7????,8??????? 256 K?????, 64 K
RAM4 K?????, 512 B RAM USB 2.0 (PC NXT),?? 6
wire digital platform. 4????,3???? 64 x
100????????????? 3??? x 6 ?????
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Mindstorms (NXT-G)
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Robolab
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RobotC
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NXJ (Java)
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LabVIEW
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NXC?NXT-G??
NXT-G
NXC
???(BrixCC) 12??? ???? http//bricxcc.sourceforg
e.net/ ? ????? ?? ????
???? ???? ???? ??????? ???? ??? ??
??? 8??? ?????   ? ?? ?? ????
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Programming interface

• Graphical

• Text based

• NXT-G
• MicroSoft
• Robotic Developer Studio
• National Instruments
• LabVIEW NXT toolkit

• NXC
• RobotC
• Java
• Others PbLua, php

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Brief comparison
LabVIEW
MSRDS
??
Java
NXC
NXT-G
????
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NXC

• Not eXactly C by John C. Hansen.
• Bricx Command Center (FREE!)
• C-based language
• Highly integrated with 3rd party I/O devices.

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• NXT????

USB ???
???(??)

• ??
• USB
• ??
• ??????
• ??

??
??/??
???
??
??/??
???(???)
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Bricx Command Center
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Important settings and interfaces

• Preferences
• compiler, font, code completion.
• Direct control
• Watching the brick
• Brick Joystick
• NXT Explorer
• NXT Screen

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First Robot
http//ldd.lego.com/
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First Program
01- 02- 03- 04- 05- 06- 07- 08- 09- task main() OnFwd(OUT_A, 75) OnFwd(OUT_B, 75) Wait(4000) OnRev(OUT_AB, 75) Wait(4000) Off(OUT_AB)
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• F5 Compile
• F6 Download
• F7 Run

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Macro
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- define MOVE 1000 define TURN 850 task main() OnFwd(OUT_BC,75) Wait(MOVE) OnRev(OUT_BC,75) Wait(TURN) Off(OUT_BC)
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Repeat loop
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- define MOVE 1000 define TURN 850 task main() repeat(5) OnFwd(OUT_BC,75) Wait(MOVE) OnRev(OUT_BC,75) Wait(TURN) Off(OUT_BC)
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Nested loop
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- 18- define MOVE 1000 define TURN 850 task main() repeat(2) PlayTone(440,50) Wait (1000) repeat (5) OnFwd(OUT_BC,75) Wait(MOVE) OnRev(OUT_BC,75) Wait(TURN) Off(OUT_BC)

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Control Structure and Variable
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Variable
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- task main() int a 3 while(a lt 5) OnFwd(OUT_BC,75) Wait(1000) PlayTone(440,50) a Off(OUT_BC)
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• while

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- 18- 19- define MOVE_TIME 500 define TURN_TIME 360 task main() while(true) OnFwd(OUT_AC, 75) Wait(MOVE_TIME) if (Random(2) 0) OnRev(OUT_C, 75) else OnRev(OUT_A, 75) Wait(TURN_TIME)
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• do while

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- int move_time, turn_time, total_time task main() total_time 0 do move_time Random(1000) turn_time Random(1000) OnFwd(OUT_AC, 75) Wait(move_time) OnRev(OUT_C, 75) Wait(turn_time) total_time move_time total_time turn_time while (total_time lt 20000) Off(OUT_AC)
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SENSORS
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Touch sensor

• ?? SetSensorTouch(S1)

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01- 02- 03- 04- 05- 06- 07 08- 09- 10- 11- 12- 13- task main() SetSensor(S1,SENSOR_TOUCH) while(true) OnFwd(OUT_AC, 50) until (SENSOR(S1) 1) OnRev(OUT_AC, 50) Wait( 500) OnFwd(OUT_A, 50) Wait(1000)
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Sound sensor

• ?? SetSensorSound(S2)

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01- 02- 03- 04- 05- 06- 07 08- 09- 10- 11- 12- 13- task main() SetSensor(S1,SENSOR_SOUND) while(true) If (SENSOR(S1) gt90) PlayTone(440, 50) Wait( 500)
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Ultrasonic sensor

• ??SetSensorLowspeed(S4)

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01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- 18- 19- 20- 21- 22- 23- 24- 25- 26- 27- 28- 29- define DISTANCE 15 //cm task main() SetSensorLowspeed(IN_4) while(true) OnFwd(OUT_AC,20) if(SensorUS(IN_4) lt DISTANCE) Off(OUT_AC) OnRev(OUT_AC,20) Wait(800) Off(OUT_AC) else if(SensorUS(IN_4) DISTANCE) Off(OUT_AC) PlayTone(440,50) Wait(1000) else if(SensorUS(IN_4) gt DISTANCE) Off(OUT_AC) OnFwd(OUT_AC,20) Wait(800) Off(OUT_AC)
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Rotation sensor
??RotateMotor(OUT_Port , Speed , Degree)
01- 02- 03- 04- 05- 06- 07- 08- task main() int x RotateMotor(OUT_A, 75, 180) // ??180? x MotorTachoCount(OUT_A) NumOut(20, LCD_LINE3, x) Wait(3000)
Give a try! x 180?
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Light sensor

• ??SetSensorLight(S3)

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01- 02- 03- 04- 05- 06- 07 08- 09- 10- 11- 12- 13- task main() SetSensorLight(S3) // SetSensor(S1,SENSOR_LIGHT) while(true) ClearScreen() TextOut(0,20,"Light is") NumOut(60,20,Sensor(S3)) if (Sensor(S3) gt40) PlayTone(440, 50) //beep Wait( 200) //0.2 sec
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??? ???????

• task
• start
• Precedes()
• mutex Acquire() ? Release()
• subroutine
• sub FunctionName (data type varible)

• inline function
• inline int B( ?? )
• statements
• return x

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• Macro

????????? define ???????,???????? define
????????????
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- define turning \ OnRev(OUT_B, 75) Wait(3400)OnFwd(OUT_BC, 75) task main() OnFwd(OUT_BC, 75) Wait(1000) turning Wait(2000) turning Wait(1000) turning Off(OUT_BC)
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??? ?????

• NXC????????4??
• 1.unregulated
• 2.speed regulation
• 3.synchronized
• 4.tachometer-limited

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• ??? ???

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- task main() OnFwd(OUT_AC, 75) Wait(500) Off(OUT_AC) Wait(1000) OnFwd(OUT_AC, 75) Wait(500) Float(OUT_AC)
Off() Float() Coast()
??Off()?,NXT????????????????????????????Float()??,
NXT??????????,????????????????????????????
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• ?????(unregulated)

OnFwd() OnRev()
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• ????(regulation)

OnFwdReg(???,??,????) OnRevReg (???,??,????)
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• ???????

OUT_REGMODE_IDLE OUT_REGMODE_SPEED OUT_REGMODE_S
YNC
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• ??????(speed regulation)

OnFwdReg(OUT_C, 40, OUT_REGMODE_SPEED)
01- 02- 03- 04- 05- 06- 07- 08- 09- 10- task main() OnFwdReg(OUT_A, 40, OUT_REGMODE_IDLE) OnFwdReg(OUT_C, 40, OUT_REGMODE_SPEED) //??????? while(true) NumOut(10, LCD_LINE1, MotorActualSpeed(OUT_A)) NumOut(10, LCD_LINE2, MotorActualSpeed(OUT_C))
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• ????(synchronized)

OnFwdReg(OUT_AC, 40, OUT_REGMODE_SYNC)
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??????

• task main()
• // OnFwdReg(OUT_B, 40, OUT_REGMODE_IDLE)
• // OnFwdReg(OUT_C, 40, OUT_REGMODE_SPEED)
• OnFwdReg(OUT_BC, 40, OUT_REGMODE_SYNC)
• while(true)
• NumOut(10, LCD_LINE1,
  MotorActualSpeed(OUT_B))
• NumOut(10, LCD_LINE2,
  MotorActualSpeed(OUT_C))

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• ????IDLE?SPEED?SYNC

01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- 17- task main() OnFwdReg(OUT_AC,50,OUT_REGMODE_IDLE) Wait(2000) Off(OUT_AC) PlayTone(4000,50) Wait(1000) ResetTachoCount(OUT_AC) OnFwdReg(OUT_AC,50,OUT_REGMODE_SPEED) Wait(2000) Off(OUT_AC) PlayTone(4000,50) Wait(1000) OnFwdReg(OUT_AC,50,OUT_REGMODE_SYNC) Wait(2000) Off(OUT_AC)
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• ??????????

OnFwdSync() OnRevSync()
OnFwdSync()?OnRevSync()???????? OnFwdSync(???,
??,?????)
0 ?? 50 ??????? 100 ???????????
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01- 02- 03- 04- 05- 06- 07- 08- 09- 10- 11- 12- 13- 14- 15- 16- task main() PlayTone(5000,30) OnFwdSync(OUT_AC,50,0) Wait(1000) PlayTone(5000,30) OnFwdSync(OUT_AC,50,50)//?????50 Wait(1000) PlayTone(5000,30) OnFwdSync(OUT_AC,50,-50) //????-50 Wait(1000) PlayTone(5000,30) OnRevSync(OUT_AC,50, -100) //????,????-100 Wait(1000) Off(OUT_AC)
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• ?????(tachometer-limited)

RotateMotor(???,??,??)
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01- 02- 03- 04- 05- 06- 07- 08- task main() RotateMotor(OUT_A, 50,360) //A???????? RotateMotor(OUT_A, 50,-360) //A???????? RotateMotor(OUT_A, -50,-360) //A???????? RotateMotor(OUT_C, 50,-360) //C???????? RotateMotor(OUT_C, -50,360) //C????????
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• ????-RotateMotorEx()

RotateMotorEx(???,??,????,?????,????,????) Rotat
eMotorEx(OUT_AC, 75, 180, 0, true, true)
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??????

• task main()
• SetSensorLight(S3)
• OnFwd(OUT_BC, 40)
• while(true)
• ClearScreen()
• NumOut(60,20,Sensor(S3))
• if (Sensor(S3)lt20)
• Off(OUT_BC)

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??????

• task main()
• SetSensorLight(S3)
• OnFwd(OUT_BC, 40)
• while(true)
• ClearScreen()
• NumOut(60,20,Sensor(S3))
• if (Sensor(S3)lt20)
• OnRev(OUT_BC, 40)
• Wait(500)
• OnFwd(OUT_BC, 40)
• // Off(OUT_BC)

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??????????

• define edge 35
• sub MoveFwd(int pwr)
• OnFwd(OUT_AC, pwr)
• Wait(200)
• sub MoveBack(int pwr)
• OnRev(OUT_AC, pwr)
• Wait(1500)
• sub MoveL(int pwr)
• OnFwd(OUT_A, pwr)
• Off(OUT_C)
• Wait(1000)
• sub MoveR(int pwr)
• OnFwd(OUT_C, pwr)
• Off(OUT_A)
• Wait(100)

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????

• define dist 20
• task main()
• SetSensorLowspeed(S4)
• int a
• OnFwd(OUT_BC, 40)
• while(true)
• ClearScreen()
• NumOut(60,20,SensorUS(S4))
• aSensorUS(S4)
• if (altdist)
• OnRev(OUT_BC, 40) //?????
• Wait(500)
• else
• OnFwd(OUT_BC, 40)
• Wait(500)

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???

• define dist 20
• task main()
• SetSensorSound(S2)
• int a
• // OnFwd(OUT_BC, 40)
• while(true)
• ClearScreen()
• NumOut(60,20,Sensor(S2))
• aSensor(S2)
• if (a gt 50)
• OnFwd(OUT_BC, a)
• Wait(200)
• Off(OUT_BC)

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??????

• define dist 20
• sub haha(int pwr, int time)
• OnFwd(OUT_BC, pwr)
• Wait(time)
• task main()
• SetSensorSound(S2)
• int a
• // OnFwd(OUT_BC, 40)
• while(true)
• ClearScreen()
• NumOut(60,20,Sensor(S2))
• aSensor(S2)
• if (a gt 50)
• haha(a, a)

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???????

• define near 18
• define far 25
• sub MoveFwd(int pwr)
• OnFwd(OUT_AC, pwr)
• Wait(200)
• sub MoveL(int pwr)
• OnFwd(OUT_A, pwr)
• Off(OUT_C)
• Wait(300)
• sub MoveR(int pwr)
• OnFwd(OUT_C, pwr)
• Off(OUT_A)
• Wait(300)
• task main()
• SetSensorLowspeed(S1)

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????????????

• define line 35
• sub MoveFwd(int pwr)
• OnFwd(OUT_AC, pwr)
• Wait(100)
• sub MoveL(int pwr)
• OnFwd(OUT_A, pwr)
• Off(OUT_C)
• Wait(100)
• task main()
• SetSensorLight(S1)
• int a
• while(true)
• // ClearScreen()
• NumOut(60,20,Sensor(S1))
• aSensor(S1)

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????by??http//tw.myblog.yahoo.com/lego-caveschoo
l/article?mid1759prev1769next1756

• define H 60define L 40task main()    
  SetSensorLight(S1)     SetSensorLight(S2)    
  SetSensorTouch(S3)     SetSensorTouch(S4)    
  int S1_N     int S2_N     int S1_Br     int
  S1_Da     int S2_Br     int S2_Da         
  until(Sensor(S3)1)     S1_BrSensor(S1)    
  S2_DaSensor(S2)     until(Sensor(S4)1)    
  S1_DaSensor(S1)     S2_BrSensor(S2)    
        S1_N(S1_BrS1_Da)/2     
  S2_N(S2_BrS2_Da)/2         
  while(true)        if(Sensor(S1)gtS1_N
  Sensor(S2)gtS2_N)           OnRev(OUT_AC,
  L)                else if(Sensor(S1)gtS1_N
  Sensor(S2)ltS2_N)           OnRev(OUT_A,
  H)           //OnRev(OUT_C, L)          
  Off(OUT_C)           Wait(500)       
          else if(Sensor(S1)ltS1_N
  Sensor(S2)gtS2_N)           Off(OUT_A)         
    //OnRev(OUT_A, L)           OnRev(OUT_C,
  H)           Wait(500)               
  else           OnRev(OUT_AC, L)          
  //PlayTone(440, 50)            

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??????by??http//tw.myblog.yahoo.com/jw!tdWkVrqRE
QGy.hGxtJ3wsdY2/article?mid1798

• define speed 40define scaleChange 20
• task main()      SetSensorLight(S1)    
  SetSensorLight(S2)     SetSensorLight(S3)    
       int vL Sensor(S1)     int vM
  Sensor(S2)     int vR Sensor(S3)     int
  scaleL (vLvM)/2     int scaleR
  (vRvM)/2     while(true)          
  if((Sensor(S1)-Sensor(S2))gtscaleChange
  (Sensor(S3)-Sensor(S2))gtscaleChange)
                 vL Sensor(S1)              
  vM Sensor(S2)               vR
  Sensor(S3)               scaleL
  (vLvM)/2               scaleR
  (vRvM)/2                             
  if(vLgtscaleL vRgtscaleR)               
  OnRev(OUT_AC, speed)                    else
  if(vLgtscaleL vRltscaleR)               
  OnRev(OUT_A, speed)              
  Off(OUT_C)               until(Sensor(S2)      
                else if(vLltscaleL vRgtscaleR)
                 OnRev(OUT_C, speed)            
     Off(OUT_A)               until(Sensor(S2)   
                   else               
  PlayTone(600, 200)               OnRev(OUT_AC,
  speed)              

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???by??http//tw.myblog.yahoo.com/lego-caveschool
/article?mid1903prev1next1895




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3rd party sensors
70
??

• Passion
• Open mind
• Hard Work