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