When Java meets Lego

Transcription

1 When Java meets Lego

2 David Sébastien

3 Agenda Lego Mindstorm Overview LeJOS Java Based Firmware for Lego Demo

4 Put a Java Brain into your Mindstorms Lego Robot (and show some cool demos)

5 What is Lego Mindstorms?

6 Lego Mindstorms

7 Many others Compass Accelerometer RFID Anything (provided you can solder)

8 Simple Robots

9 Simple Robots

10 Simple Robots

11 Complex Machinery

12 Complex Machinery

13 Complex Machinery

14 Step #1 : Assemble

15 Step #2 : Program

16 PC/MAC Lego Mindstorms NXT Software GUI NXT Embedded system firmware Compiler Communication protocol BT OS interface BT driver BT dongle USB driver USB driver BT HW driver

17 Open Platform Lego Communication Protocol RobotC NXC LeJOS

18 LeJOS

19 LeJOS

20 LeJOS Tour Dans les slides qui suivent, je fais le choix de faire un focus sur 3-4 aspects important de LeJOS, pas toute la feature list A Virtual Machine A Java API A Linker to create Virtual Machine byte code PC Tools to flash, upload apps etc... A PC Communication API

21 Develop on any platform

22 Develop on any platform

23 With any IDE

24 With any IDE

25 LeJOS Virtual Machine Based on TinyVM, but improved Around 50kb Fully preemptive, multi threaded Garbage Collection Bluetooth, USB, I2C & RS485 communication Most of java.lang.*, java.util.*, java.io.*

26 PC Comm API Java programming from the PC. Working both with the original firmware and LeJOS

27 PC Comm API Java programming from the PC. Working both with the original firmware and LeJOS

28 PC Comm API Java programming from the PC. Working both with the original firmware and LeJOS USB BlueTooth

29 PC Comm API Java programming from the PC. Working both with the original firmware and LeJOS USB BlueTooth LCP - Lego Communication Protocol

30 Advanced Control Individual Motor Control Pilot Java Classes Navigator Java Classes

31 Advanced Control Individual Motor Control Navigator Pilot Java Classes Pilot Navigator Java Classes Motor

32 Advanced Behavior

33 Advanced Behavior Drive Forward Hit Object? Battery Low? Timeout? Backup & Rotate Play Alarm Stop

34 Advanced Behavior

35 Advanced Behavior Touch Sensor Collision Behavior Battery Level Battery Behavior Sound Timer Timer Behavior Forward Behavior Motors Arbitrator

36 Advanced Behavior Touch Sensor Collision Behavior Battery Level Battery Behavior Sound Timer Timer Behavior Forward Behavior takeaction = true Motors Arbitrator

37 Advanced Behavior Touch Sensor Collision Behavior takeaction = true Battery Level Battery Behavior Sound Timer Timer Behavior Forward Behavior takeaction = true Motors Arbitrator

38 Advanced Behavior Touch Sensor Collision Behavior Battery Level Battery Behavior takeaction = true Sound Timer Timer Behavior Forward Behavior takeaction = true Motors Arbitrator

39 Advanced Behavior Touch Sensor Collision Behavior Battery Level Battery Behavior Sound Timer Timer Behavior takeaction = true Forward Behavior takeaction = true Motors Arbitrator

40 Cool Demos

41 REST API in GlassFish

42 REST API in GlassFish

43 REST API in GlassFish USB BlueTooth

44 REST API in GlassFish USB BlueTooth LCP - Lego Communication Protocol

45 REST API in GlassFish REST API USB BlueTooth HTTP LCP - Lego Communication Protocol

46 REST API in GlassFish? REST API HTTP USB BlueTooth LCP - Lego Communication Protocol

47 REST API in GlassFish USB BlueTooth LCP - Lego Communication Protocol

48 REST API in GlassFish REST API USB HTTP BlueTooth LCP - Lego Communication Protocol

49 REST API in GlassFish

50 Extending Mindstorms

51 Lego Mindstorms

52 New sensors I 2 C Inter-Integrated Circuit Low speed master-slaves serial protocol Lego Mindstorms Hardware Developer Guide Arduino Hardware prototyping platform Open source

53 My sensor Nxt Sensor Port Port 3: Gnd Port 4: 4,3v Port 5: SCL Port 6: SDA Gnd +5v Analog 5 Analog 4 Arduino

54 My sensor import! lejos.nxt.i2cport; import! lejos.nxt.i2csensor; I2CSensor Arduino = new I2CSensor(SensorPort.S1); Arduino.setAddress(1); // set slave address... Arduino.sendData(0, bufout, bufout.length);... Arduino.getData(0, readdata, readdata.length);

55 My sensor #include <Wire.h> void setup() { Wire.begin(1); // Join I2C bus as slave 1 Wire.onRequest(requestEvent); // define callbacks Wire.onReceive(receiveEvent); } void receiveevent(int len) { // data in! while( 0 < Wire.available() ) {!! char c = Wire.receive();! } } void requestevent() { // data out Wire.send("Arduino to Mindtsorms"); }

56 Demo Nxt Nxt Sensor Nxt Sensor Nxt Port Sensor Port Sensor Port Port Arduino LEDs HTTP TCP/IP Ethernet GlassFish

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