Programming Robots using Java Linglestown Middle School Penn State Harrisburg Spring 2010 Jane S. Kochanov

http://marsrovers. jpl. nasa. gov/mission/spacecraft_surface_rover http://marsrovers.jpl.nasa.gov/mission/spacecraft_surface_rover.html

Roomba Intelligent Floorvac Robotic Vacuum Roomba 4100 Intelligent Floorvac Robotic Vacuum - Red. Dirt detection and infra-red cliff sensors. Auto adjusts to any floor surface 2-hour continuous cleaning Virtual wall for confining to designated area Rechargeable APS battery, 7-hour charger Measures 13 by 4 inches www.totalvac.com

Virtual Guard Dog It sports a digital camera, infrared sensors and videophone capability so absent homeowners can be notified of intruders. 280,000 yen ($2,600) contraption by Japanese robot maker Tmsuk Co. Ltd. and Sanyo Electric Co. Ltd. http://www.cnn.com/2005/TECH/ptech/06/02/roborior.ap/

Hospital Courier TUG 50 pounds Ferries linens, X-rays, drugs, food Made by Pittsburgh-based Aethon Uses wireless radios to call elevators or open automatic doors http://www.aethon.com

ASIMO Advanced Step in Innovative Mobility Humanoid Robot built by Honda Introduced in November 2000 ASIMO video

LEGO Mindstorms Robot Robot Kit includes: RCX (Robotics Command Explorer) 2 Motors 2 touch sensors 1 light sensor USB infrared transmitter tower A “gazillion” lego parts to build a robot

LEGO Mindstorms Robot RCX runs on 6 AA batteries When batteries are low, battery icon with an “X” across it will appear in the display 3 gray ports labeled 1, 2, 3 Sensor ports 3 black ports labeled A, B, C Motor ports

LEGO Mindstorms Robot 4 buttons On-Off Run to execute and stop a loaded program Prgm to scroll through the loaded programs May load up to 5 programs at one time View allows you to view information on a sensor or motor

LEGO Mindstorms Robot Display Window A little person standing or running Indicates that a program is loaded or running respectively To the right of the little person, a number indicating which of 5 programs will be active when the Run program is pressed To the left of the little person, the Software Watch Shows program being downloaded. It counts units of 100 bytes, so a 3 Kb program counts up to ~ 30 Shows the voltage level of the battery

LEGO Java Operating System Provides a Java package to control the RCX: josx.platform.rcx.* Provides Java classes for working with the RCX features: Motors Sensors Display Sound Buttons IR tower

LEGO Java Operating System TextLCD class: Uses the display to show text messages. This class uses a great deal of memory. The letters are approximations since the display was originally intended for numbers. print (“text”) - prints the text on the LCD. Only the first five letters are displayed.

LEGO Java Operating System Motor class: Used to control the RCX output ports which control the motors. The class contains 3 static Motor instances, A, B, and C, which correspond to the 3 output ports. setPower(int) - sets the current power level of the motor from 0 to 7. backward( ) - moves the motor backwards. forward( ) - moves the motor forwards. stop( ) - stops the motor. reverseDirection( ) - no matter which way the motor is turning, it makes it turn the other way.

LEGO Java Operating System Sound class: The robot is able to play sounds for different tasks you might want to program playTone(int Frequency, int Duration) - - plays a tone in the range 1 - 20000 Hz given by Frequency. The tone is played for Duration: to play 1 second, use 100. It is truncated at 256, meaning that 2.56 seconds is the maximum duration possible.

LEGO Java Operating System systemSound(true/false, int Code ) – plays one of the predefined tones. Code Sound Short beep 1 Double beep 2 Descending arpeggio 3 Ascending arpeggio 4 Long low beep; error sound 5 Quick ascending arpeggio

LEGO Java Operating System Button class: Encapsules 3 RCX buttons View, Prgm, Run. You may call a static instance of each button using VIEW, PRGM, and RUN. waitForPressAndRelease( ) throws InterrupedException - wait until the button is released

Let’s Try Create a simple program together that: Displays a word to the LCD Start one motor Start the other motor Play a descending arpeggio before the motors start Run until the RUN button is pressed