1. Using LeJOS LMICSE Workshop August 11 - 14, 2006 Villanova University

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

3. 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.netlejos.sourceforge.net

4. 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

5. 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()

6. 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)

7. 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

8. 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;

9. Using Sensors II Sensor.S1.activate(); // turns the sensor on Sensor.S1.passivate(); // turns the sensor off - required for “active” sensors

10. 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)

11. 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

12. 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

13. 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 ascendingdescending

14. 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()

15. 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

16. 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).

17. 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.

18. 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 definition and the main method implement SensorListener register the listeners can’t register a listener in a static object

19. 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

20. 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 method and class definition end on a press, not a release id is either 0, 1, or 2

21. Where to Learn More The LeJOS Tutorial: an online resource which is part of the LeJOS project.LeJOS Tutorial 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.

22. 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 installwww.bluej.org, Go ahead and open BlueJ on your PC

23. Setting up BlueJ for MindStorms Two requirements: Install LeJOS Available from lejos.sourceforge.comlejos.sourceforge.com Just do the basic install Add the BMJT plugin to BlueJ Available from ddi.uni- paderborn.de/mindstormstools/bjmtddi.uni- paderborn.de/mindstormstools/bjmt Good instructions available online These steps are already done for you on your PC!

24. 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 usb there is a 1.5 option in newer versions choose configure

25. 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

26. Compiling an Existing File Right-click (Command-click) on the file icon Choose Compile from the pop-up menu choose compile not this one!

27. 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

28. Try it Out! Place the robot in its play area. Press run. It should move forward until it hits an obstacle.