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olihock/bepemindhttps://www.informatik-aktuell.de/entwicklung/programmiersprachen/lego-mindstorms-steuerung-mit-bpmn.html
Process
public class RotateDelegate implements JavaDelegate {
private FixedValue port;
private JuelExpression angle;
@Override
public void execute(DelegateExecution execution)
throws Exception {
String portValue = (String) port.getValue(execution);
Long angleValue = (Long) angle.getValue(execution);
String hostVar = ""+execution.getVariable("Host");
// leJOS API stuff here
}
Main Process
Scan single Brick
React on Cube
Walk CubeScan Face
Face DMNScan all Bricks
Rotate Motor
Scan Cube Calculate Solve Cube
Face to Face
Move Face
Move DMN
TwistTiltTurn
CubeTwister *
* Werner Randelshofer – Java Implementation of KCube 1.0 by Greg Schmidt
≤ 52 Steps≤ 21 Steps
Turn Table
Cube Tilter
Brick
Color Sensor
* Hans Andersson - http://tiltedtwister.com/tiltedtwister2.html
Robot Access Delegate Layer
Brick Access Factory
«JavaDelegate»
Data Objects
CubeFinder Functions RotateDelegate
FetchSampleDelegate
new MotorFactory()
new SensorFactory()
static Motor.A
static SensorPort.S1
GitHub
Randelshofer CubeTwister
KCube 1.0 by Greg Schmidt
Kociemba two-phase solver
Eclipse Kepler
Oracle JVM
Mindstorms
Slides
Tilted Twister 2.0