Using LeJOS

LMICSE Workshop

August 11 - 14, 2006

Villanova University

Presentation Outline

LeJOS Overview An Example Program Controlling Motors Sleeping Using Sensors Generating Sounds Using Buttons Defining Listeners LeJOS Resources

LeJOS Overview

LeJOS is an open source project is based on a subset of Java with extensions for the RCX

missing Java features hard to predict (i.e., no switch statement)

contains as well some advanced robotics libraries navigation (odometry) behaviors (subsumption architecture) image processing (vision)

is available at lejos.sourceforge.net

An Example Program

import josx.platform.rcx.*;

class GoForward implements SensorConstants {

public static void main(String[] args) {

Sensor.S2.setTypeAndMode(SENSOR_TYPE_TOUCH, SENSOR_MODE_BOOL);

Motor.A.forward(); Motor.C.forward();

while( Sensor.S2.readValue() != 1 ) ; } }

import the basic LeJOS package

set up a bump sensor

“poll” the sensor

turn on the motors

sensor constants

Move forward until a bump

Controlling Motors

Three Motors: A, B, C Controlled using:

public static void forward() public static void backward() public static void reverseDirection() public static void flt() public static void stop() public static void setpower()

Motor Examples

Motor.A.forward(); Motor.B.forward(); Motor.B.flt(); // like an idle Motor.A.reverseDirection(); Motor.A.setPower(3); // possible values 1-7

(deceptive – does not cause the motor to go slow it just causes to use less energy which, perhaps, might slow it down)

Sleeping

Put the thread to sleep in order to time movements

import josx.platform.rcx.*;

class Patrol {

public static void main(String[] args) throws InterruptedException { Motor.A.forward(); while (true) { Motor.C.forward(); // go forward Thread.sleep (5000); Motor.C.reverse(); // turn around Thread.sleep (1000); } }

Patrol back and forth

timing is in milliseconds

threads can be interrupted

Using Sensors I

Three Sensors: S1, S2, S3 First you must “set type and mode” of the sensor

setTypeAndMode(int aType, int aMode) use the SensorConstants for aType and aMode:

aType

SENSOR_TYPE_RAW = 0;SENSOR_TYPE_TOUCH = 1;SENSOR_TYPE_TEMP = 2;SENSOR_TYPE_LIGHT = 3;SENSOR_TYPE_ROT = 4;

aMode

SENSOR_MODE_RAW = 0x00;SENSOR_MODE_BOOL = 0x20;SENSOR_MODE_EDGE = 0x40;SENSOR_MODE_PULSE = 0x60;SENSOR_MODE_PCT = 0x80;SENSOR_MODE_DEGC = 0xa0;SENSOR_MODE_DEGF = 0xc0;SENSOR_MODE_ANGLE = 0xe0;

Using Sensors II

Sensor.S1.activate(); // turns the sensor on Sensor.S1.passivate(); // turns the sensor off

- required for “active” sensors

Sensor Examples

Sensor.S2.readRawValue();

(must be used if aType = 0) Sensor.S2.readBooleanValue();

(used if aMode = BOOL e.g. touch sensor) Sensor.S2.readValue();

(used for light sensor percentage

aMode = 3

aType = 0x80)

Sensor Code Example

import josx.platform.rcx.*;

class LCDShowLight implements SensorConstants {

public static void main(String[] args) {

Sensor.S1.setTypeAndMode(SENSOR_TYPE_LIGHT, SENSOR_MODE_PCT); Sensor.S1.activate();

while(true) LCD.showNumber(Sensor.S1.readValue()); } }

Repeatedly display the reading of the light sensor

light sensors must be activated

use the LCD class for display

Sound

Uses RCX speaker – useful for debugging

beep() // one beep

beepSequence() // a series of beeps going down

buzz() // a buzz

playTone(int aFrequency, int aDuration)

aFrequency: 31-2100 Hz //human sound range

aDuration: 1 – 256 Centiseconds

Sound Code Example

import josx.platform.rcx.*;

class AudibleSounds { public static void main(String[] args) throws InterruptedException { for(int f = 440; f < 10000; f = 110*f/100) { LCD.showNumber(f); Sound.playTone(f, 50); Thread.sleep(500); } for(int f = 440; f > 20; f = 90*f/100) { LCD.showNumber(f); Sound.playTone(f, 50); Thread.sleep(500); } }}

Play an ascending and then a descending series of tones

ascending

descending

The RCX Buttons

All buttons may be re-programmed except “RUN” Controlled by a “button class” Polling or Using a Listener (Discuss) “listener” or directly using waitForPressAndRelease()

Button Code Example

import josx.platform.rcx.*;

public class RunButton {

public static void main(String[] args) throws InterruptedException { // move forward Motor.A.forward(); Motor.B.forward(); // just run until RUN button is pressed again Button.RUN.waitForPressAndRelease(); }}

Move forward until RUN button is pressed

blocks until button click

Using Listeners

Just as with standard Java, you can define listeners. Perhaps most useful with sensors, particularly touch

sensors. You need to

implement the SensorListener interface by defining a stateChanged method.

register the listener with the appropriate sensor(s).

Listener Example

An extended example:

The robot patrols back and forth.

While it patrols, it plays (without stopping)

a low tone when its left bump sensor is pressed.

a high tone when its right bump sensor is pressed.

Listener Example Part 1

import josx.platform.rcx.*;class ListenerExample implements SensorConstants, SensorListener {

public static void main(String[] args) { ListenerExample exam = new ListenerExample(); Sensor.S1.setTypeAndMode(SENSOR_TYPE_TOUCH, SENSOR_MODE_BOOL); Sensor.S3.setTypeAndMode(SENSOR_TYPE_TOUCH, SENSOR_MODE_BOOL); Sensor.S1.addSensorListener(exam); Sensor.S3.addSensorListener(exam); exam.patrol(); }

The beginning of the class definitionand the main method

implement SensorListener

register the listeners

can’t register a listener in a static object

Listener Example Part 2

public void patrol () { try {

Motor.A.forward(); while (true) { Motor.C.forward(); Thread.sleep(3000); Motor.C.backward(); Thread.sleep(1000); }

} catch (Exception e) { }

}

The patrol method

sleeping does not affect the listener

Listener Example Part 3

public void stateChanged(Sensor source, int oldValue, int newValue) {

if (newValue == 1) if (source.getId() == 0) // left bumper Sound.playTone(220, 50); else if (source.getId() == 2) // right bumper Sound.playTone(660, 50);

}

} // end class ListenerExample

The stateChanged methodand class definition end

on a press, not a release

id is either0, 1, or 2

Where to Learn More

The LeJOS Tutorial: an online resource which is part of the LeJOS project.

Books such as: Core Lego Mindstorms Programming, by Brian Bagnall

(Prentice-Hall, 2002), Programming Lego Mindstorms in Java, by Giulio Ferrari,

et al (Syngress, 2002), and many others.

The BlueJ IDE and MindStorms

A popular integrated development environment for Java developed by Michael Kolling and others

Often used in introductory CS courses Available at www.bluej.org, easy to install Go ahead and open BlueJ on your PC

Setting up BlueJ for MindStorms

Two requirements:

Install LeJOS Available from lejos.sourceforge.com Just do the basic install

Add the BMJT plugin to BlueJ Available from

ddi.uni-paderborn.de/mindstormstools/bjmt Good instructions available online

These steps are already done for you on your PC!

Once the BMJT Plugin is installed

You need to configure it This is already done for you on your PC!

set the path to the JDK

set the path to LeJOS

just say usbthere is a 1.5 option in newer versions

choose configure

Firmware

Now you can download the firmware to the RCX Plug the tower into a usb port

if on a PC you may need to install the usb drivers Place the RCX in front of the tower, turn it on Choose Firmware You will see a progress dialog on the PC On the RCX you will see an ascending series of numbers

choose firmware

Compiling an Existing File

Right-click (Command-click) on the file icon Choose Compile from the pop-up menu

choose compile

not this one!

Downloading a Project

Robot must be on and in front of tower Right-click (Command-click) on the file icon for the main class Choose Download from the pop-up menu

choose download

Try it Out!

Place the robot in its play area.

Press run.

It should move forward until it hits an obstacle.