Subject:
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How to communicate sensor value changes to RCX Tower
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 5 Nov 1999 14:59:19 GMT
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Original-From:
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Farrukh S. Najmi <NAJMI@EAST.avoidspamSUN.COM>
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Viewed:
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1000 times
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Hello all,
I am a mindstorm newbie and have just started writing a high level Java
toolkit for mindstorms. It is based on RCXPort by Scott Lewis at the lowest
level. Kudos to Scott for a greta job and for helping me get boot-strapped.
The toolkit is designed in the context of a Java and OO programming course
I am teaching to young middle school students. It is different from NQC,
RCXPort etc in that the main controlling program (controller) is written in
Java and runs on a JVM on a host computer other than RCX (it is never
downloaded as a program). Instead the controller send command to the RCX as
needed and the RCX sends sensor changes to the controller on an event
driven basis. This allows for the controller to not be resource constrained
and can be written in an OO fashion in Java using a high level class
library. It aslo allows me to teach key programming concepts in terms that
my students can appreciate. Once V1.0 is complete, I plan to make the bits
available. I also plan to port the toolkit to Palm Pilot running the KVM
Java Virtual Machine at some point, thus elimination the RCX tower and
using the palm's as a remote controller in addition to the software
controller.
My question to you is... I am not sure how to best send a changed sensor
value to the controller. I know I can always poll from the controller to
the RCX but that seems rather inefficient. I have got an NQC program that
is attempting to model the event driven notification I am looking for.
Could someone help with some of the reamining detail:
-How to use SendMessage to notify the RCX tower of the new value of
SENSOR_1?
-How to best use the in-line function touchSensorDetector so that it can
use the sensorId and avoid hardcoding SENSOR_1?
Thanks for your help.
-----Begin NQC program
task touchSensor1Detector() {
touchSensorDetector(1);
}
task main() {
StopAllTasks();
}
void touchSensorDetector(int sesnsorId) {
//Initialize sensor
SetSensor(SENSOR_1, SENSOR_TOUCH);
//initialize variable
int lastSensorValue=0;
while (true) {
//Keep checking for change in sensor value in a loop
while (lastSensorValue == SENSOR_1) {
continue;
}
//Sensor value has changed
//Remember new sesnor val in variable
lastSensorValue = SENSOR_1;
//Send the new sensor value to master control program on host
computer
//SendMessage();
//Clear the Message so new Messages may come in
//ClearMessage();
}
}
Vadim Strizhevsky wrote:
> Todd Lehman writes:
> [snip]
> > 3. Vadim Strizhevsky's & Owen Stenseth's RCXLib (not sure of the
> > current status)
> >
> >
>
> Sad to say, but it is more or less dead. No effort or coding for it
> has been done since, oh probably New Years time. Both Owen and myself
> sort of lost interest and/or time in the project or mindstorms or
> maybe both. Speaking from myself I haven't in general touched my
> mindstorms set (the only LEGO set I ever owned) since around that time
> as well, which is probably the most direct reason for not advancing
> this project. And although I keep alive hopes of getting back into it,
> reallisticly it will probably not happen as I moved on to other
> things. But as they say, never say never...
>
> I'm glad to see that the topic of Palm->Mindstorms control, which was
> of special interest to me, is not dead. And while I haven't tried Mike
> Kory's program, looking at its screen shots it looks excellent, and
> at much more advanced point than the stuff we did. Good Luck Mike!
>
> Thanks,
> Vadim
--
Regards,
Farrukh
--
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Message has 2 Replies:
 | | Re: How to communicate sensor value changes to RCX Tower
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| I believe that Variable 0 can be used as a flag and there is a special way to constantly poll for a change in that value. Perhaps you could have a task that logs all sensor values into the RCX DataLog and use Variable 0 to indicate when the DataLog (...) (25 years ago, 5-Nov-99, to lugnet.robotics)
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Message is in Reply To:
| | Re: Palm Pilot to RCX remote controller
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| Todd Lehman writes: [snip] > 3. Vadim Strizhevsky's & Owen Stenseth's RCXLib (not sure of the > current status) > > Sad to say, but it is more or less dead. No effort or coding for it has been done since, oh probably New Years time. Both Owen and (...) (25 years ago, 4-Nov-99, to lugnet.robotics)
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