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Programming forLego® Mindstorms™using Eclipseto take you back to your childhood!,[object Object],Benjamin CabéOct 28th, 2009,[object Object]
Agenda,[object Object],The Mindstorms NXT brick,[object Object],The LeJOS VM,[object Object],Eclipse + Mindstorms = FUN!,[object Object],Implementing an RSE connector,[object Object],Data visualization inside an Eclipse editor,[object Object],State machines modeling and code generation,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
The NXT brick,[object Object],32-bit ARM7 processor @48MHz,[object Object],256kB of Flash,[object Object],64kB of RAM,[object Object],100x64 pixel LCD display,[object Object],USB 2.0,[object Object],Bluetooth,[object Object],Open Source firmware!,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
4 input ports,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
3 output ports (motors),[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
LeJOS NXJ VM,[object Object],A tiny (10kb) but stillcool Java VM,[object Object],Threads / Synchronization,[object Object],Exceptions,[object Object],Most of the java.lang, java.util and java.io classes,[object Object],Generics, enums, « for each » loops,[object Object],A “robotics”, event-based, API,[object Object],Open Source!,[object Object],Limitations,[object Object],No GarbageCollector,[object Object],No switch(),[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
LeJOS NXJ Eclipse plug-in,[object Object],Useful to upload firmware and/or programs to the brick,[object Object],Not much integrated in the IDE…,[object Object],		… how about leveraging DSDP/TM?! ,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
TM/RSE hacking,[object Object],LeJOS NXJ comes with APIs to :,[object Object],List/get/send files,[object Object],Execute programs,[object Object],Get sensor states,[object Object],… it should be possible to define an RSE connector and a file subsystem…!,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
Brief RSE introduction,[object Object],A frameworkat Eclipse to connect to remotesystems and provide:,[object Object],remote file systems through SSH, FTP, a dedicated agent, or whatever,[object Object],remote shell access,[object Object],remote process monitoring,[object Object],remote debugging (gdb),[object Object],It comeswithgeneric, reusable, UI,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
TM/RSE hacking (2),[object Object],In a couple of hours:,[object Object],A new 'LeJOS' system is available,[object Object],An RSE file 'subsystem' allows to:,[object Object],Browse the brick's filesystem,[object Object],Remotely execute programs,[object Object],Another subystem could bewritten to retrieve sensors values,[object Object],Nota: Communication with the brick can be done using either BT or USB,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
TM/RSE hacking (3),[object Object],Very straightforward 1..1 mapping between RSE and LEJOS APIs,[object Object],Example: LejosRemoteFile implementation,[object Object],publicvoid launch() throwsIOException {,[object Object],   LejosConnectorService connector =      (LejosConnectorService) getParentRemoteFileSubSystem(),[object Object],                              .getConnectorService();,[object Object],   connector.getComm().startProgram(_hostFile.getName());,[object Object],},[object Object],RSE,[object Object],LEJOS,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
Let’stoy a cool sonar!,[object Object],Follows a closed track,[object Object],Scans the interior of the track with the ultrasonic sensor,[object Object],Writes a binary output file into flash memory,[object Object],The file will be retrieved using the RSE connector,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
Robot behavior,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
Robot Java program,[object Object],publicstaticvoid main(String[] args) {,[object Object],  tachoNav= new TachoNavigator(5.6f, 11.5f, Motor.A, Motor.B);,[object Object],  File fRadar = new File("result.radar");,[object Object],  FileOutputStream fosRadar = new FileOutputStream(fRadar);,[object Object],  tachoNav.goTo(0, TERRAIN_WIDTH, true);,[object Object],  while(tachoNav.isMoving()) {,[object Object],     intdist = ultrasonic.getDistance();,[object Object],     fosRadar.writeInt(dist);,[object Object],  },[object Object],},[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
Display captured data,[object Object],In an Eclipse editor associated to .radar files,[object Object],Parse binary files,[object Object],Process signal ,[object Object],sin(α)… cos(α)… Remember?! ,[object Object],Since the ambient noise level is also recorded, we can display it in a similar manner,[object Object],http://www.sxc.hu/photo/1099687,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
17,[object Object],State machines modeling,[object Object],LeJOS comes with an event-based robotics API, remember?,[object Object],Eclipse has a bunch of cool modeling/diagramming/code generation technologies,[object Object],		… how about mixingboth?! ,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
18,[object Object],LeJOS Visual Development Toolkit,[object Object],A state machine framework on top of LeJOS,[object Object],A GMF editor,[object Object],Xpandtemplates for code generation,[object Object],An integrationwith the LeJOS Eclipse plugin,[object Object],Auto-deployment of the binary,[object Object],Communication between the brick and the IDE to monitor the state machine,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
A state machine diagram…,[object Object],©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
©2009 Sierra Wireless inc. – Made availableunderEPL v1.0,[object Object]
Questions?,[object Object],Benjamin Cabé,[object Object],BCabe@sierrawireless.com,[object Object]

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Programming for Lego Mindstorms using Eclipse to take you back to your childhood!

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