PAU - Intoducing domotics...
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Programming yourLego Mindstorm NXT RobotLego Mindstorm NXT Robot
PAULycée Saint-Cricq15-21 Mar 2015
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First of all… BUILDING OUR ROBOT!
Prezi presentations
Domabot [Domabot on-
line]
9797 basic model[9797 on-line]
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And our… “ramp”
Don’t crash the wall
Ramp version[Ramp on-line]
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“Find” the problem…
The Robot is doing “somethingsomething”…
In your opinion which is the problemproblem it’s solving?
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Video… problem Solve “your” problem…
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We would like…
A sequence of logical steps – e.g.:
When you press a button: Go forward 3” Turn right 90° Go backwards 2”
When you press again a button: Enjoy yourself Enjoy yourself !!! !!!
Just a…flux diagramJust a…flux diagram
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Flux Diagram (example)
Start
Acquiredistance
Setdistance(=100)
50<distance<100Set MotorsBackwards Power 20%
YES
NO
25<distance<49Set MotorsBackwards Power 60%
YES
0<distance<24Set MotorsBackwards Power 100%
YES
NO
NO
distance>100 Turn Motors offYES
NO
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See you soon…
…talking about youryour and ourour flux diagram
…and the robot program!
At the end of our workshopAt the end of our workshop !
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Programming levels…
Level 2Level 21 program
runningInteraction withthe environment
Level 1Level 11 program running
NO interaction withthe environment
Level 0Level 0NO Program running
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NONO sensor and… NONO programWhat is the robot seeing? [programming level_0]
WiFiWiFi
BluetoothBluetooth
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What do you need?
Wi Fi ConnectionWi Fi Connection:1 Router (IP address, e.g.: 192.168.1.1)
DHCP server1 notebook (IP address, e.g.:
192.168.1.55) 1 smart phone Connected to the
“DLink” network Run your “IP Webcam” “IP Webcam” android app
(Your smart phone will be a webcam server)webcam server) Please read the IP address given by
the DHCP server (something like: 192.168.1.xxx:8080)
WiFiWiFi
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And…
Bluetooth connectionBluetooth connection1 Smartphone
MO_R_E_NXT_Remote_control_V2 Download your own copy .apk file (from
tablet) Install the MO_R_E_NXT_ … program Connect to the robot (PAU_3, PAU_5 or
PAU_6) Run your software copy
Drive your Robot
BluetoothBluetooth
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Programming language (NXT 2.0)
Common
Data
Advanced
Flow
Action
Sensor
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No sensor [programming level_1]
The robot is programmed… It’s always doing the same “things”, with no interaction with the environment…
We need: 1 Domabot
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“No sensor” - Video…
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“No sensor” – Flux diagram
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NO Sensor program (1_NO_sensor.rbt)
html Version
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Sound control [programming level_2]
The robot is moving forward, (remote) controlled by the intensity of sound…
We needWe need:1 Domabot1 Sound
sensor
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“Sound control” – Video…
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“Sound control” – Flux diagram
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Sound control program (2_Sound_control.rbt)
html Version
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Line follower
The robot is following the black line… every path is good to solve “its” problem…
We needWe need: 1 9797 robot 1 Light sensor 1 black path
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“Following the black line” – Video…
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“Line follower” – Flux diagram
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Line Follower program (3_Line_Follower.rbt)
html Version
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“Problem solving” – Flux diagram
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Problem solving program (4_Problem_Solve.rbt)
html Version
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Something else…
All sensors at once Playing with a… joystick
http://www.nxtprograms.com/4x4_joystick/steps.html
Building your Express-botExpress-bot http://www.nxtprograms.com/9797/express-bot/steps.html
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All Sensors
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All Sensors - Programm
html Version
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Joystick Drive
html Version
http://www.nxtprograms.com/programs/Joystick_Drive.rbt