Roverbott Video 2

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Roverbott Video 1

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Project 2: a modified Roverbott

My Goal: To build a Roverbot and have it behave like a bumber car (Hit a wall, bounce back and change direction) and have the RoverBot respond to commands from the remoteControl
I used this Tutorial as reference

In the "specialized trails" section, read chapters, Overview, Behavior and Navigation.
Here are my Java files

HitWallS1.java
import josx.robotics.*;
import josx.platform.rcx.*;

public class HitWallS1 implements Behavior {

public boolean takeControl() {
return Sensor.S1.readBooleanValue();
}

public void suppress() {
// Motor.A.stop();
//Motor.C.stop();
Motor.A.forward();
Motor.C.forward();
}

public void action() {
// Back up:
Motor.A.backward();
Motor.C.backward();
try{Thread.sleep(1000);}catch(Exception e) {}
// Rotate by causing only one wheel to stop:
Motor.A.stop();
try{Thread.sleep(300);}catch(Exception e) {}
Motor.C.stop();
}
}

HitWallS2.java
import josx.robotics.*;
import josx.platform.rcx.*;

public class HitWallS2 implements Behavior {

public boolean takeControl() {
return Sensor.S2.readBooleanValue();
}

public void suppress() {
// Motor.A.stop();
//Motor.C.stop();
Motor.A.forward();
Motor.C.forward();
}

public void action() {
// Back up:
Motor.A.backward();
Motor.C.backward();
try{Thread.sleep(1000);}catch(Exception e) {}
// Rotate by causing only one wheel to stop:
Motor.A.stop();
try{Thread.sleep(300);}catch(Exception e) {}
Motor.C.stop();
}
}

DriveForward.java
import josx.robotics.*;
import josx.platform.rcx.*;

public class DriveForward implements Behavior {

public boolean takeControl() {
return true;
}

public void suppress() {
Motor.A.stop();
Motor.C.stop();
}

public void action() {
Motor.A.forward();
Motor.C.forward();
}
}

RemoteControlTest.java
/*
* $Log: RemoteControlTest.java,v $
* Revision 1.2 2002/11/01 16:01:28 mpscholz
* changed startup display
*
* Revision 1.1 2002/09/28 10:29:34 mpscholz
* initial version for the test example of the remotecontrol package
*
*/

import josx.platform.rcx.*;
import josx.platform.rcx.remotecontrol.*;
import josx.robotics.*;

/////////////////////////////////////////////////////////
/**
*
* This class is a main test program for the remote control sensor
* @author Matthias Paul Scholz (mp.scholz@t-online.de)
* @version 1.0 (24/09/2002)
*/
public class RemoteControlTest implements RemoteControlListener {

////////////////////////////////////////////
// constants
////////////////////////////////////////////
private static final char[] MESSAGE1 = {'M','S','G','1'};
private static final char[] MESSAGE2 = {'M','S','G','2'};
private static final char[] MESSAGE3 = {'M','S','G','3'};
private static final char[] MOTOR_DOWN = {'M','O','T','-'};
private static final char[] MOTOR_UP = {'M','O','T','+'};
private static final char[] PROGRAM1 = {'P','R','O','G','1'};
private static final char[] PROGRAM2 = {'P','R','O','G','2'};
private static final char[] PROGRAM3 = {'P','R','O','G','3'};
private static final char[] PROGRAM4 = {'P','R','O','G','4'};
private static final char[] PROGRAM5 = {'P','R','O','G','5'};
private static final char[] STOP = {'S','T','O','P'};
private static final char[] SOUND = {'S','O','U','N','D'};
private static final char[] READY = {'R','E','A','D','Y'};

////////////////////////////////////////////
// fields
////////////////////////////////////////////
/**
* current sensor states (activated = true)
*/
private boolean[] fSensorState = { false,false,false };


////////////////////////////////////////////
// constructors
////////////////////////////////////////////

////////////////////////////////////////////
/**
* creates a new instance of RemoteControlTest
*/
public RemoteControlTest() {
// reset to initial state
reset();
// display "ready"
TextLCD.print(READY);
} // RemoteControlTest()

////////////////////////////////////////////
// public methods
////////////////////////////////////////////

////////////////////////////////////////////
/**
* main method for test reasons
* @throws InterruptedException
*/
public static void main(String[] args)
throws InterruptedException {
Behavior b1 = new DriveForward();
Behavior b2 = new HitWallS1();
Behavior b3 = new HitWallS2();

Behavior [] bArray = {b1, b2,b3};
Arbitrator arby = new Arbitrator(bArray);


// instantiate remote control test instance
RemoteControlTest remoteControlTest = new RemoteControlTest();

// create remote control sensor
RemoteControlSensor sensor = new RemoteControlSensor();
sensor.addRemoteControlListener(remoteControlTest);

// reset engine
remoteControlTest.reset();
// just run until RUN button is pressed again
arby.start();
Button.RUN.waitForPressAndRelease();
System.exit( 0);




} // main()


////////////////////////////////////////////
// RemoteControListener interface methods
////////////////////////////////////////////

////////////////////////////////////////////
/**
* handler for the message 1 button
*/
public void message1Pressed() {
// display
TextLCD.print(MESSAGE1);
// current sensor state?
boolean sensorState = fSensorState[0];
// activate/passivate sensor
if(sensorState)
Sensor.S1.passivate();
else
Sensor.S1.activate();
// change sensor state
fSensorState[0] = !sensorState;
} // message1()

////////////////////////////////////////////
/**
* handler for the message 2 button
*/
public void message2Pressed() {
// display
TextLCD.print(MESSAGE2);
// current sensor state?
boolean sensorState = fSensorState[1];
// activate/passivate sensor
if(sensorState)
Sensor.S2.passivate();
else
Sensor.S2.activate();
// change sensor state
fSensorState[1] = !sensorState;
} // message2()

////////////////////////////////////////////
/**
* handler for the message 3 button
*/
public void message3Pressed() {
// display
TextLCD.print(MESSAGE3);
// current sensor state?
boolean sensorState = fSensorState[0];
// activate/passivate sensor
if(sensorState)
Sensor.S3.passivate();
else
Sensor.S3.activate();
// change sensor state
fSensorState[2] = !sensorState;
} // message3()

////////////////////////////////////////////
/**
* decrements motor power
* @param aMotor the motor
*/
public void motorDownPressed(Motor aMotor) {
// display
TextLCD.print(MOTOR_DOWN);
// get current power
int power = aMotor.getPower();
// get current state
if(power==0) {
// move backward
aMotor.setPower(++power);
aMotor.backward();
} else {
if(aMotor.isForward())
// decrease forward movement
aMotor.setPower(--power);
else {
// move backward
aMotor.setPower(Math.min(7,++power));
aMotor.backward();
} // else
} // else
// display power of motors
displayMotorsPower();
} // motorDownPressed()

////////////////////////////////////////////
/**
* increments motor power
* @param aMotor the motor
*/
public void motorUpPressed(Motor aMotor) {
// display
TextLCD.print(MOTOR_UP);
// get current power
int power = aMotor.getPower();
// get current state
if(power==0) {
// move forward
aMotor.setPower(++power);
aMotor.forward();
} else {
if(aMotor.isBackward())
// decrease backward movement
aMotor.setPower(--power);
else {
// move forward
aMotor.setPower(Math.min(7,++power));
aMotor.forward();
} // else
} // else
// display power of motors
displayMotorsPower();
} // motorUpPressed()

////////////////////////////////////////////
/**
* handler for the program 1 button
*/
public void program1Pressed() {
// display
TextLCD.print(PROGRAM1);
Motor.A.forward();
Motor.C.forward();



} // program1()

////////////////////////////////////////////
/**
* handler for the program 2 button
*/
public void program2Pressed() {
// display
TextLCD.print(PROGRAM2);
Motor.A.backward();
Motor.C.backward();
} // program2()

////////////////////////////////////////////
/**
* handler for the program 3 button
*/
public void program3Pressed() {
// display
TextLCD.print(PROGRAM3);
Motor.A.stop();
Motor.C.forward();
} // program3()

////////////////////////////////////////////
/**
* handler for the program 4 button
*/
public void program4Pressed() {
// display
TextLCD.print(PROGRAM4);
Motor.A.forward();
Motor.C.stop();
} // program4()

////////////////////////////////////////////
/**
* handler for the program 5 button
*/
public void program5Pressed() {
// display
TextLCD.print(PROGRAM5);
} // program5()

////////////////////////////////////////////
/**
* handler for the sound button
*/
public void soundPressed() {
// display
TextLCD.print(SOUND);
// sound
Sound.beep();
} // sound()

////////////////////////////////////////////
/**
* handler for the stop button
*/
public void stopPressed() {
// display
TextLCD.print(STOP);
// reset
reset();
} // stop()

////////////////////////////////////////////
// public methods
////////////////////////////////////////////

////////////////////////////////////////////
/**
* resets the engine to its initial state
*/
public void reset() {
// stop motors
Motor.A.stop();
Motor.A.setPower(0);
Motor.B.stop();
Motor.B.setPower(0);
Motor.C.stop();
Motor.C.setPower(0);
// passivate sensors
Sensor.S1.passivate();
Sensor.S2.passivate();
Sensor.S3.passivate();
for(int i=0;i
format: 0
*/
private void displayMotorsPower() {
int powers = Motor.A.getPower() * 100
+ Motor.B.getPower() * 10
+ Motor.C.getPower();
LCD.showNumber(powers);
} // displayMotorsPower()

} // class RemoteControlTest

Compiling, Linking and Loading the program on to the RCX

Step 1. Run setenv from C:\Lejos\Project to initialize your environment.
********************************************************
C:\Lejos\Project\RoverBot>..\setenv

C:\Lejos\Project\RoverBot>set LEJOS_HOME=C:\Lejos\lejos

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\classes.jar;.;.;C:\PR
OGRA~1\JMF21~1.1E\lib\sound.jar;C:\PROGRA~1\JMF21~1.1E\lib\jmf.jar;C:\PROGRA~1\J
MF21~1.1E\lib;C:\WINDOWS\java\classes;.;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\rcxport.jar;C:\Lejoslejos\lib\classes.jar;.;.;C:\PROGRA~1\JMF21~1.1E\lib\sound.jar;C:\PROGRA~1\JMF21
~1.1E\lib\jmf.jar;C:\PROGRA~1\JMF21~1.1E\lib;C:\WINDOWS\java\classes;.;;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\BlackBox.jar;C:\Lejos
\lejos\lib\rcxport.jar;C:\Lejos\lejos\lib\classes.jar;.;.;C:\PROGRA~1\JMF21~1.1E
\lib\sound.jar;C:\PROGRA~1\JMF21~1.1E\lib\jmf.jar;C:\PROGRA~1\JMF21~1.1E\lib;C:WINDOWS\java\classes;.;;;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\rcx.jar;C:\Lejos\lejo
s\lib\BlackBox.jar;C:\Lejos\lejos\lib\rcxport.jar;C:\Lejos\lejos\lib\classes.jar
;.;.;C:\PROGRA~1\JMF21~1.1E\lib\sound.jar;C:\PROGRA~1\JMF21~1.1E\lib\jmf.jar;C:PROGRA~1\JMF21~1.1E\lib;C:\WINDOWS\java\classes;.;;;;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\comm.jar;C:\Lejos\lej
os\lib\rcx.jar;C:\Lejos\lejos\lib\BlackBox.jar;C:\Lejos\lejos\lib\rcxport.jar;C:
\Lejos\lejos\lib\classes.jar;.;.;C:\PROGRA~1\JMF21~1.1E\lib\sound.jar;C:\PROGRA~
1\JMF21~1.1E\lib\jmf.jar;C:\PROGRA~1\JMF21~1.1E\lib;C:\WINDOWS\java\classes;.;;;
;;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\jtools.jar;C:\Lejos\l
ejos\lib\comm.jar;C:\Lejos\lejos\lib\rcx.jar;C:\Lejos\lejos\lib\BlackBox.jar;C:Lejos\lejos\lib\rcxport.jar;C:\Lejos\lejos\lib\classes.jar;.;.;C:\PROGRA~1\JMF21
~1.1E\lib\sound.jar;C:\PROGRA~1\JMF21~1.1E\lib\jmf.jar;C:\PROGRA~1\JMF21~1.1E\li
b;C:\WINDOWS\java\classes;.;;;;;;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\pcrcxcomm.jar;C:\Lejo
s\lejos\lib\jtools.jar;C:\Lejos\lejos\lib\comm.jar;C:\Lejos\lejos\lib\rcx.jar;C:
\Lejos\lejos\lib\BlackBox.jar;C:\Lejos\lejos\lib\rcxport.jar;C:\Lejos\lejos\libclasses.jar;.;.;C:\PROGRA~1\JMF21~1.1E\lib\sound.jar;C:\PROGRA~1\JMF21~1.1E\libjmf.jar;C:\PROGRA~1\JMF21~1.1E\lib;C:\WINDOWS\java\classes;.;;;;;;;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\rcxrcxcomm.jar;C:\Lej
os\lejos\lib\pcrcxcomm.jar;C:\Lejos\lejos\lib\jtools.jar;C:\Lejos\lejos\lib\comm
.jar;C:\Lejos\lejos\lib\rcx.jar;C:\Lejos\lejos\lib\BlackBox.jar;C:\Lejos\lejos\l
ib\rcxport.jar;C:\Lejos\lejos\lib\classes.jar;.;.;C:\PROGRA~1\JMF21~1.1E\lib\sou
nd.jar;C:\PROGRA~1\JMF21~1.1E\lib\jmf.jar;C:\PROGRA~1\JMF21~1.1E\lib;C:\WINDOWSjava\classes;.;;;;;;;;

C:\Lejos\Project\RoverBot>set CLASSPATH=C:\Lejos\lejos\lib\vision.jar;C:\Lejos\l
ejos\lib\rcxrcxcomm.jar;C:\Lejos\lejos\lib\pcrcxcomm.jar;C:\Lejos\lejos\lib\jtoo
ls.jar;C:\Lejos\lejos\lib\comm.jar;C:\Lejos\lejos\lib\rcx.jar;C:\Lejos\lejos\lib
\BlackBox.jar;C:\Lejos\lejos\lib\rcxport.jar;C:\Lejos\lejos\lib\classes.jar;.;.;
C:\PROGRA~1\JMF21~1.1E\lib\sound.jar;C:\PROGRA~1\JMF21~1.1E\lib\jmf.jar;C:\PROGR
A~1\JMF21~1.1E\lib;C:\WINDOWS\java\classes;.;;;;;;;;;

C:\Lejos\Project\RoverBot>set RCXTTY=USB

C:\Lejos\Project\RoverBot>set PATH=C:\Lejos\lejos\bin;C:\WINDOWS\system32;C:\WIN
DOWS;C:\WINDOWS\System32\Wbem;C:\ClearCase\bin;C:\Program Files\Netegrity\SiteMi
nder Web Agent\bin;C:\Program Files\Netegrity\SiteMinder Web Agent\bin\thirdpart
y;c:\jdk1.3.1_02\bin;c:\jdk1.3.1_02\jre\bin;"C:\Program Files\Hummingbird\Connec
tivity\7.00\Accessories\";C:\Program Files\Microsoft Visual Studio\Common\ToolsWinNT;C:\Program Files\Microsoft Visual Studio\Common\MSDev98\Bin;C:\Program Fil
es\Microsoft Visual Studio\Common\Tools;C:\Program Files\Microsoft Visual Studio
\VC98\bin;C:\java\ant\apache-ant-1.5.3-1\bin;C:\Program Files\SSH Communications
Security\SSH Secure Shell;
...............................................................................

Step II Compile Source files
*****************************************************************************

C:\Lejos\Project\RoverBot>lejosjc.bat RemoteControlTest.java DriveForward.java
HitWallS1.java HitWallS2.java
...............................................................................

StepIII Link compiled files into a bin file
*****************************************************************************

C:\Lejos\Project\RoverBot>lejoslink.bat -o RoverBot.bin RemoteControlTest

...............................................................................

Step IV Download the Compiled files into the RCX

C:\Lejos\Project\RoverBot>lejosdl.bat RoverBot.bin

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Remote Control

Please note that the Remote Control does not come with Mindstorms but comes as part of the ultimate accessory kit.

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Roverbott Side view

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Roverbott Back view

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Roverbott Front view

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Roverbott Top view

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There's the 'Hello'

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Setting up the environment and loading the firmware

Use this link as reference for this section.

Setting up the environment

I have created a directory c:\Lejos\Project.

I have a batch file setenv.bat with th following content in it

#beginning of file
set LEJOS_HOME=C:\Lejos\lejos

set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\rcxport.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\BlackBox.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\rcx.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\classes.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\comm.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\jtools.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\pcrcxcomm.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\rcxrcxcomm.jar;
set CLASSPATH=%CLASSPATH%;C:\Lejos\lejos\lib\vision.jar;
#end of file


This sets up my environment.

Loading the Firmware

1. Create a file, LoadFirmware.bat in c:\Lejos\Project with the following line.
firmdl.bat
2. Plug in the USB IR tower.
3. Turn on RCX and place it near the tower.
4. Open up a command prompt,type in the commands

cd c:\Lejos\Project
LoadFirmware.bat

The output will look like this:


C:\Lejos\Project>firmdl.bat
Segment 0 length = 13686
Segment 1 length = 2938
Deleting firmware
Firmware deleted
Downloading firmware
Total image size = 16624(17k)
Firmware downloaded
Unlocking firmware
Firmware unlocked

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Hello World

Here are the steps to creating my HelloWorld.
I have run setenv in the previous set(previous blog)
If your are starting with a fresh command prompt, run it using the previous blog entry as reference.

1. Create a directory HelloWorld under C:\Lejos\Project
2. Create a file HelloWorld.java with the following lines. This program can also be found in

      import josx.platform.rcx.*;

        /**
         * @author calvinedu">Ryan VanderBijl
         */

        /* This class uses char[] to display text on the LCD.
         * Strings aren't really supported by TinyVM. :-(
         *
         * This program, after d/ling, waits for you to press the RUN
         * button, and then displays "hello", for a small delay, and then
         * displays "world". (Then a small delay, and then it returns to
         * the TinyVM OS).
         */

        public class HelloWorld
        {
          public static void main (String[] aArg)
          throws Exception
          {
             LCD.clear();
             TextLCD.print ("hello");
             Thread.sleep(2000);
             TextLCD.print ("world");
             Thread.sleep(2000);
          }
        }
Go to  this link and follow the directions on how to build download and run it.

Here is my output
...........................................................................................
c:\>cd C:\Lejos\Project
C:\Lejos\Project>mkdir HelloWorld

C:\Lejos\Project\HelloWorld>lejosjc.bat HelloWorld.java
C:\Lejos\Project\HelloWorld>lejoslink.bat -o HelloWorld.bin HelloWorld
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\comm.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcx.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\BlackBox.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcxport.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\comm.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcx.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\BlackBox.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcxport.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcxport.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\BlackBox.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcx.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\comm.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcxport.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\BlackBox.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcx.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\comm.jar
Warning: Can't open zip/jar file: C:\Lejos/lib/classes.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcxport.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\BlackBox.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcx.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\comm.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcxport.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\BlackBox.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcx.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\comm.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcxport.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\BlackBox.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\rcx.jar
Warning: Can't open zip/jar file: C:\Lejos\lejos\lib\comm.jar
C:\Lejos\Project\HelloWorld>
C:\Lejos\Project\HelloWorld>dir
Volume in drive C has no label.
Volume Serial Number is F0CC-206D

Directory of C:\Lejos\Project\HelloWorld

C:\Lejos\Project\HelloWorld>
C:\Lejos\Project\HelloWorld>dir
Volume in drive C has no label.
Volume Serial Number is F0CC-206D

Directory of C:\Lejos\Project\HelloWorld

04/04/2005 11:03 PM .
04/04/2005 11:03 PM ..
04/04/2005 11:03 PM 2,789 HelloWorld.bin
04/04/2005 11:02 PM 554 HelloWorld.class
04/04/2005 11:02 PM 658 HelloWorld.java
3 File(s) 4,001 bytes
C:\Lejos\Project\HelloWorld>lejosdl.bat HelloWorld.bin
C:\Lejos\Project\HelloWorld>
NOW press the red button to display 'Hello' on the LCD of the RCX. The 'World' will come a couple of seconds later,

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