資訊管理系 -...

BF98904

BF98005 BF98009 BF98014 BF98043

I

NXT LEJOS API

II

........................................................ I

....................................................... II

..................................................... IV

..................................................... VI

................................................ 1

1-1 ........................................... 2

1-2 ........................................... 2

.................................. 3

............................................ 5

3-1 ........................................... 5

3-2 NXT ........................................ 6

3-3 NXT .................................. 12

3-4 JCreator ............................ 13

3-5 JDK .......................................... 14

3-6 LeJOS NXJ ..................................... 17

......................................... 22

4-1 .......................................... 22

4-2 ........................................ 23

III

4-3 ............................................ 28

4-4 ................................ 36

........................................... 38

..................................... 39

6-1 .............................................. 39

6-2 .......................................... 39

................................................... 40

....................................................... 41

IV

1 .............................................. 6

2 NXT ............................................... 7

3 ............................................ 8

4 .............................................. 8

5 ............................................ 9

6 .......................................... 9

7 ......................................... 10

8 ........................................... 10

9 ............................................. 11

10 ............................................ 15

11 ........................................ 15

12 ........................................ 16

13 ............................................ 20

14 .......................................... 21

15 ............................................ 21

16 ............................................ 22

17 .............................................. 23

18 .......................................... 23

V

19 .............................................. 26

20 .......................................... 26

21 ...................................... 27

22 ................................ 29

23 .................... 29

24 ...................... 31

25 90 ........................... 32

26 45 ........................... 32

27 30 ......................... 33

28 ............................................ 34

29 ............................................ 34

30 .......................................... 35

31 .......................................... 35

32 ...................................... 41

33 ............................................ 41

VI

1 ............................................ 3

2 ............................................ 4

3 NXT ..................................... 7

4 ........................................... 12

5 NXT .................................... 25

7 ........................................... 30

1

Lego

2

1-1

NXT

1-2

NXT USB

3

1

2

1

5

3-1

1984

RCX LEGO

LEGO 2006 9

LEGO Mindstorms NXT

Mindstorms LEGO

2009 8

Lego Mindstorms NXT 2.0 NXTP/N 9841

150

LEGO Mindstorms NXT 8547

6

3-2 NXT

1

NXT 1

Prot1NXT

Prot2

Prot3

Prot4

Prot5

Prot6

7

3-2-1 NXTIntelligent Brick

2 NXT

1234ABC

3 NXT

1

2 NXT

3 NXT

NXT

CPU ARM 732AT91SAM7S25648 MHz

USB2.0

4 1234

3 3 ABC

64100 LCD

256K bytes & 64K bytes

6 3AA

NXTMMJ-12 RJ-12

8

3-2-2 Touch Sensor

3 1

0/

2

3

3-2-3 Light Sensor

4

1 2

4

9

3-2-4 Sound Sensor

5

DB DBA

5

3-2-5 Compass Sensor

6

1

0 359NXT 100

NXT

6

10

3-2-6 Ultra Sonic Sensor

7

0-255 3

150

7

3-2-7 Color Sensor

8

8

11

3-2-8 Motor with Tacho

9 NXT

/

180 A

30 5

NXT

2

9

12

3-3 NXT

LEGO MINDSTORMS NXT NXT

USB NXT 44

4

Windows Mac

Intel Pentium

1GHz 1.5GHz

600 MHz PowerPC G3G4

G5

Windows XP

SP2Vista

SP1

Mac OS X 10.3.9

10.4 10.5

512 MB RAM 512 MB RAM

700 MB 700 MB

XGA1024768 XGA1024768

1 USB 1 USB

CD-ROM CD-ROM

13

3-4 JCreator

JCreator JAVA IDE

Java

C++

Java JDK Doc

JDK

Help JCreator

JAVA JCreator Applet

Html JCreator

JCreator Windows

JDK IDE

14

3-5 JDK

JDK Java JDK

JavaJDKSun

JDKJ2SEJ2EE

J2ME JDK

JDK 6.0

JDK

Javaccompiler Java

.java Java.class

JavainterpreterJava

Applet viewerapplet Java

Javadoc Java

/***/ html

Jdbdebugger Java

15

3-5-1

JDKsystem variable

JDK 6.0 Path

Windows XP Path

1. 10

10

2. JAVA_HOME JDK 11

11

16

3. Path JDK bin

javac java 12

;

12

Java JDK

http://www.oracle.com/technetwork/java/index.html

3-5-2 USB

Microsoft Windows LeJOS NXJ LEGO NXT

USB driver PCMicrosoft Windows

USB LEGO NXT

17

3-6 LeJOS NXJ

LeJOS NXJ LEGO MINDSTORMS NXT Java

LeJOS NXJ Java

LeJOS NXJ WindowsLinux

Mac OS Android

5

LeJOS NXJ

Java VM

LeJOS NXJ API Java classes.jar

java classes classes.jar

NXT

PC PC

USB LeJOS NXJ API LCPLEGO

Communications Protocol

18

3-6-1 LeJOS NXJ

LeJOS NXJ NXT-G NXT

Java

object-oriented programming

open source

Eclipse Netbeans

WindowsLinuxMac OS X

NXT-G

Behavior classes

third partysensors

PC LeJOS NXJ

J2ME LCD

multithreading listeners events

19

garbage collectionsafe

memory management

USB USB Java streamsdebugging

Java streams

flash file system javaio

data logginglogs

8-bit WAV

PC iCommand

Web site

ideas

TCP/IP sockets

NXT NXT

third party RCX Mindsensors

NRLink

Lego LEGO

LeJOS

menu system iCommand

20

3-6-2 LeJOS NXJ

1. c:\test

2. c:\test

3. >> cmd Enter

4. DOS

cd\ c:\

cd test c:\test 13

13

21

nxjc xxx.java xxx.java xxx.class

14

14

nxj xxx xxx.class JSK LeJOS SDK

NXT xxx.nxj 15

15

22

4-1

16(a)

16(b)

16(a 16(b)

16

23

4-2

USB 17

18

3 5

17

18(a)

18(b)

18(c)

18

24

4-2-1

4mm

0.7mm

3mm0.6mm

356

1 70%

90%70%

2 28

10100

3

2%

1/3-1/2

25

4-2-2 NXT

NXT 6

I2C RS-485 NXT 5

7

5 NXT

1 ANA +5V/+9V

2 GND

3 GND

4 IPOWERA +4.3V

5 DIGIAI0 I2CSCLRS-485 A

6 DIGIAI1 I2CSDARS-485 B

26

4-2-3

19

19

20 98

20

27

21

1 NXT C pin 3 2 NXT

C pin 4 3

NXT C 9 pin 3 pin 4

21

+ + - -

6

5

4

3

2

1

NXT

1

2

3

28

4-3

HiTechnic

HiTechnic

9

NXT 4-6

10-15

NXT 2~3 360

20

29

22a

offset12

XYX maxY maxX minY min

2310

22

23

30

4-3-1

7

7

90 202

90 199

1090 1.3

90 349

90 347

10120 1.7

180 170

360 271

1075 1

31

90

90

46

45 11

0

304

270

198

180

NXT

24

24

32

90 180 270 360

1 -1 48 158 249 323

2 -1 54 177 270 343

3 -1 58 180 270 345

-50

0

50

100

150

200

250

300

350

400

10145 2

315 270 225 180 135 90 450(360

)315 270

1 1 317 280 218 163 166 71 36 6

2 1 318 281 226 166 115 70 85 2 320 285

3 0 316 277 222 162 117 75 37 0 317 278

0

50

100

150

200

250

300

350

10145 2

4-3-2

25

25 90

26

26 45

33

330 300 270 240 210 180 150 120 90 60 30

0

(360)

330 300

1 0 330 302 278 243 201 163 136 107 76 46 23 0 330 302

2 0 327 299 276 239 193 160 136 106 82 50 28 358 327 300

3 0 334 315 293 254 214 180 149 110 74 44 24 359 334 316

4 0 336 315 291 257 215 108 143 110 69 43 24 0 336 316

5 0 336 316 294 254 211 180 145 107 72 46 25 0 335 317

0

50

100

150

200

250

300

350

400

10145 130

27 30

27 30

34

4-3-3

28

28

29

29

35

30 NXT 10-15

30

31 NXT

31

36

4-4

4-4-1 12

37

4-4-2

38

1 450

2

NXT 2~3

( 360)

3

10

4 10~15

NXT

5

39

6-1

6-2

40

1

http://zh.wikipedia.org/wiki/%E6%A8%82%E9%AB%98Mindstorms_NXT

2LEGO

http://www.lego.com/en-us/default.aspx

3LeJOS Java for Lego Mindstorms

http://lejos.sourceforge.net/index.php

4NXT

http://software.gotop.com.tw/ItemB.aspx?pg=softItem&bn=2011070118&Types=a&Gr

oup=%E6%95%99%E5%AD%B8%E5%A5%97%E4%BB%B6&ID=1

5LeJOS NXJ

http://www.diy-robots.com/resources/LejosNxtTutorial_cn/index.aspx

6

http://km.emotors.ncku.edu.tw/emotor/worklog/EMTRC/admin_function/learnweb/pdf/n

o415_23175.pdf

7NXT

http://www.stewartallen.org/2010/08/designing-lego-mindstorms-nxt-sensors/

8

http://www.yd-tech.com.tw/product_info.php/products_id/61503

9NXT

http://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NMC1034

10

http://www.robotworld.org.tw/oper/file_download.php?fn=1268126548_1.doc

11JAVA

12()

http://zh.wikipedia.org/wiki/%E6%A8%82%E9%AB%98Mindstorms_NXThttp://www.lego.com/en-us/default.aspxhttp://lejos.sourceforge.net/index.phphttp://software.gotop.com.tw/ItemB.aspx?pg=softItem&bn=2011070118&Types=a&Group=%E6%95%99%E5%AD%B8%E5%A5%97%E4%BB%B6&ID=1http://software.gotop.com.tw/ItemB.aspx?pg=softItem&bn=2011070118&Types=a&Group=%E6%95%99%E5%AD%B8%E5%A5%97%E4%BB%B6&ID=1http://www.diy-robots.com/resources/LejosNxtTutorial_cn/index.aspxhttp://km.emotors.ncku.edu.tw/emotor/worklog/EMTRC/admin_function/learnweb/pdf/no415_23175.pdfhttp://km.emotors.ncku.edu.tw/emotor/worklog/EMTRC/admin_function/learnweb/pdf/no415_23175.pdfhttp://www.stewartallen.org/2010/08/designing-lego-mindstorms-nxt-sensors/http://www.yd-tech.com.tw/product_info.php/products_id/61503http://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NMC1034http://www.robotworld.org.tw/oper/file_download.php?fn=1268126548_1.doc

41

32

33

42

import lejos.robotics.navigation.*; import lejos.robotics.*; import lejos.nxt.LCD; import lejos.nxt.Motor; import lejos.nxt.UltrasonicSensor; import lejos.nxt.*; import lejos.nxt.addon.*; import lejos.nxt.Sound; public class SquareTracer3 { static DifferentialPilot pilot ; static SquareTracer3 sq ; static CompassHTSensor cs = new CompassHTSensorSensorPort.S1; static int dir=0; static int start_len=60; public static void main String[] args { int x; int k; sq = new SquareTracer3; sq.cs = new CompassHTSensorSensorPort.S1; Calibratecs; // sq.pilot = new DifferentialPilot4.2f, 14.8f, Motor.A, Motor.B ; sq.pilot.setRotateSpeed30; // sq.pilot.setTravelSpeed8; // 8 x=Button.waitForAnyPress; // Sound.pause1000; cs.resetCartesianZero ; // dir=0; // k=int cs.getDegreesCartesian; // Sound.pause200; LCD.drawIntk, 3, 0, 0; // Motor.C.setSpeed1000; // C Motor.C.forward; int length = start_len ; //cm

43

int cn=2 ; // 2 whilelength>=0 { sq.walklength,3 ; //, 3 pilot.rotate-90; // 90 dir=dir+90 ; ifdir==360 dir=0 ; cn-- ; // ifcn==0{ // length-=10 ; // 10 cn=1; // length 1 } } } //--------------------------------------------------------------- private static void CalibrateCompassHTSensor cs{ // cs.startCalibration; // Motor.A.setSpeed250; Motor.B.setSpeed250; Motor.A.backward; // Motor.B.forward; // Sound.pause11200; // 5600 Motor.A.stop; Motor.B.stop; cs.stopCalibration; // } //--------------------------------------------------------------- public void walkint len,int sn { int k=0 ; // int x=0 ; // int t=0 ; // int sum; int max=0; int min=0; for int z = 0 ; z < len; z+=sn{

44

pilot.travelsn; // 3 //--------------------------------------------------------------- max=min=0 ; forint j=0;jdir ifk-dir>180 x=k-dir+360; else x=k-dir; else x=k-dir ; ifx>max max=x; ifx180 x=k+dir+360/2; else x=k+dir/2; else x=k+dir/2; // t=k-x ; // pilot.rotatet; } } }

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