Перевод статьи "Программирование LEGO NXT роботов на языке NXC" — различия между версиями

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<p align=center><b>Автор: Daniele Benedettelli</b><br><br><i>Перевод: © Ботов Антон aka =DeaD=, 2009<br><br>Эксклюзивно для www.roboforum.ru<br> копирование на другие ресурсы и публикация перевода<br>без разрешения его автора запрещены</i></p>
 
<p align=center><b>Автор: Daniele Benedettelli</b><br><br><i>Перевод: © Ботов Антон aka =DeaD=, 2009<br><br>Эксклюзивно для www.roboforum.ru<br> копирование на другие ресурсы и публикация перевода<br>без разрешения его автора запрещены</i></p>
  
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==Preface==
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Содержание:
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As happened for good old Mindstorms RIS, CyberMaster, and Spybotics, to unleash the full power of
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* [[Введение]]Preface ___________________________________________________________________ 2
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Mindstorms NXT brick, you need a programming environment that is more handy than NXT-G, the National
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** Acknowledgements____________________________________________________________________ 2
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Instruments Labview-like graphical language that comes with NXT retail set.
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* Writing your first program __________________________________________________ 5
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**Building a robot ______________________________________________________________________ 5
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NXC is a programming language, invented by John Hansen, which was especially designed for the Lego robots.
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**Starting Bricx Command Center __________________________________________________________ 5
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If you have never written a program before, don't worry. NXC is really easy to use and this tutorial will lead you
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**Writing the program ___________________________________________________________________ 6
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on your first steps towards it.
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**Running the program __________________________________________________________________ 7
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**Errors in your program _________________________________________________________________ 8
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To make writing programs even easier, there is the Bricx Command Center (BricxCC). This utility helps you to
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**Changing the speed ____________________________________________________________________ 8
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write your programs, to download them to the robot, to start and stop them, browse NXT flash memory, convert
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**Summary____________________________________________________________________________ 9
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sound files for use with the brick, and much more. BricxCC works almost like a text processor, but with some
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*A more interesting program _______________________________________________ 10
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extras. This tutorial will use BricxCC (version 3.3.7.16 or higher) as integrated development environment (IDE).
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**Making turns ________________________________________________________________________ 10
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**Repeating commands _________________________________________________________________ 10
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You can download it for free from the web at the address
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**Adding comments ____________________________________________________________________ 11
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* [[http://bricxcc.sourceforge.net/ http://bricxcc.sourceforge.net/]]
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**Summary___________________________________________________________________________ 12
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* Using variables_________________________________________________________ 13
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BricxCC runs on Windows PCs (95, 98, ME, NT, 2K, XP, Vista). The NXC language can also be used on other
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**Moving in a spiral ____________________________________________________________________ 13
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platforms. You can download it from the web page
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**Random numbers ____________________________________________________________________ 14
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* [[http://bricxcc.sourceforge.net/nxc/ http://bricxcc.sourceforge.net/nxc/]]
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**Summary___________________________________________________________________________ 15
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*Control structures_______________________________________________________ 16
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Most of this tutorial should also apply to other platforms, except that you loose some of the tools included in
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**The if statement______________________________________________________________________ 16
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BricxCC and the color-coding.
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**The do statement _____________________________________________________________________ 17
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**Summary___________________________________________________________________________ 17
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The tutorial has been updated to work with beta 30 of NXC and higher versions. Some of the sample programs
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*Sensors ________________________________________________________________ 18
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will not compile with versions older than beta 30.
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**Waiting for a sensor __________________________________________________________________ 18
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**Acting on a touch sensor _______________________________________________________________ 19
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As side note, my webpage is full of Lego Mindstorms RCX and NXT related content, including a PC tool to
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**Light sensor_________________________________________________________________________ 19
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communicate with NXT:
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**Sound sensor ________________________________________________________________________ 20
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* [[http://daniele.benedettelli.com http://daniele.benedettelli.com]]
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**Ultrasonic sensor_____________________________________________________________________ 21
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**Summary___________________________________________________________________________ 22
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===Acknowledgements===
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*Tasks and subroutines ___________________________________________________ 23
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Many thanks go to John Hansen, whose work is priceless!
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**Tasks ______________________________________________________________________________ 23
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**Subroutines _________________________________________________________________________ 24
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**Defining macros _____________________________________________________________________ 25
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**Summary___________________________________________________________________________ 26
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*Making music _________________________________________________________ 28
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**Playing sound files ___________________________________________________________________ 28
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**Playing music _______________________________________________________________________ 28
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**Summary___________________________________________________________________________ 30
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*More about motors ____________________________________________________ 31
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**Stopping gently ______________________________________________________________________ 31
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**Advanced commands _________________________________________________________________ 31
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**PID control _________________________________________________________________________ 33
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**Summary___________________________________________________________________________ 34
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*More about sensors _____________________________________________________ 35
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**Sensor mode and type _________________________________________________________________ 35
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**The rotation sensor ___________________________________________________________________ 36
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**Putting multiple sensors on one input _____________________________________________________ 37
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**Summary___________________________________________________________________________ 38
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*Parallel tasks ___________________________________________________________ 39
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**A wrong program ____________________________________________________________________ 39
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**Critical sections and mutex variables _____________________________________________________ 39
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**Using semaphores ____________________________________________________________________ 40
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**Summary___________________________________________________________________________ 41
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*Communication between robots ___________________________________________ 42
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**Master – Slave messaging______________________________________________________________ 42
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**Sending numbers with acknowledgement__________________________________________________ 43
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**Direct commands ____________________________________________________________________ 45
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**Summary___________________________________________________________________________ 45
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*More commands _______________________________________________________ 46
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**Timers _____________________________________________________________________________ 46
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**Dot matrix display____________________________________________________________________ 46
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**File system _________________________________________________________________________ 47
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**Summary___________________________________________________________________________ 50
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*Final remarks ________________________________________________________ 51

Версия 13:13, 16 мая 2009

(перевод статьи "Programming LEGO NXT Robots using NXC")


Исходная статья: [http://bricxcc.sourceforge.net/nbc/nxcdoc/NXC_tutorial.pdf]

Автор: Daniele Benedettelli

Перевод: © Ботов Антон aka =DeaD=, 2009

Эксклюзивно для www.roboforum.ru
копирование на другие ресурсы и публикация перевода
без разрешения его автора запрещены

Содержание:

  • ВведениеPreface ___________________________________________________________________ 2
    • Acknowledgements____________________________________________________________________ 2
  • Writing your first program __________________________________________________ 5
    • Building a robot ______________________________________________________________________ 5
    • Starting Bricx Command Center __________________________________________________________ 5
    • Writing the program ___________________________________________________________________ 6
    • Running the program __________________________________________________________________ 7
    • Errors in your program _________________________________________________________________ 8
    • Changing the speed ____________________________________________________________________ 8
    • Summary____________________________________________________________________________ 9
  • A more interesting program _______________________________________________ 10
    • Making turns ________________________________________________________________________ 10
    • Repeating commands _________________________________________________________________ 10
    • Adding comments ____________________________________________________________________ 11
    • Summary___________________________________________________________________________ 12
  • Using variables_________________________________________________________ 13
    • Moving in a spiral ____________________________________________________________________ 13
    • Random numbers ____________________________________________________________________ 14
    • Summary___________________________________________________________________________ 15
  • Control structures_______________________________________________________ 16
    • The if statement______________________________________________________________________ 16
    • The do statement _____________________________________________________________________ 17
    • Summary___________________________________________________________________________ 17
  • Sensors ________________________________________________________________ 18
    • Waiting for a sensor __________________________________________________________________ 18
    • Acting on a touch sensor _______________________________________________________________ 19
    • Light sensor_________________________________________________________________________ 19
    • Sound sensor ________________________________________________________________________ 20
    • Ultrasonic sensor_____________________________________________________________________ 21
    • Summary___________________________________________________________________________ 22
  • Tasks and subroutines ___________________________________________________ 23
    • Tasks ______________________________________________________________________________ 23
    • Subroutines _________________________________________________________________________ 24
    • Defining macros _____________________________________________________________________ 25
    • Summary___________________________________________________________________________ 26
  • Making music _________________________________________________________ 28
    • Playing sound files ___________________________________________________________________ 28
    • Playing music _______________________________________________________________________ 28
    • Summary___________________________________________________________________________ 30
  • More about motors ____________________________________________________ 31
    • Stopping gently ______________________________________________________________________ 31
    • Advanced commands _________________________________________________________________ 31
    • PID control _________________________________________________________________________ 33
    • Summary___________________________________________________________________________ 34
  • More about sensors _____________________________________________________ 35
    • Sensor mode and type _________________________________________________________________ 35
    • The rotation sensor ___________________________________________________________________ 36
    • Putting multiple sensors on one input _____________________________________________________ 37
    • Summary___________________________________________________________________________ 38
  • Parallel tasks ___________________________________________________________ 39
    • A wrong program ____________________________________________________________________ 39
    • Critical sections and mutex variables _____________________________________________________ 39
    • Using semaphores ____________________________________________________________________ 40
    • Summary___________________________________________________________________________ 41
  • Communication between robots ___________________________________________ 42
    • Master – Slave messaging______________________________________________________________ 42
    • Sending numbers with acknowledgement__________________________________________________ 43
    • Direct commands ____________________________________________________________________ 45
    • Summary___________________________________________________________________________ 45
  • More commands _______________________________________________________ 46
    • Timers _____________________________________________________________________________ 46
    • Dot matrix display____________________________________________________________________ 46
    • File system _________________________________________________________________________ 47
    • Summary___________________________________________________________________________ 50
  • Final remarks ________________________________________________________ 51
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