Difference between revisions of "NXT Logo Overview"

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== Welcome to Logo for NXT ==
 
== Welcome to Logo for NXT ==
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[[Eurologo2007 Workshop]]
 
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This page contains information about the project of programming NXT in Logo language.
 
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The project is under intensive development, and there are no releases yet. '''the first preview will come in the very start of September'''
 
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However, the projet is open-source and the latest development version is available in the [http://webcvs.robotika.sk/cgi-bin/cvsweb/robotika/src/imagine/nxt/logo/current/ CVS].
 
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[[Image:nxtlogo.gif]]
 
  
 
== Features ==
 
== Features ==
  
 +
* General-purpose educational Lisp-like functional language
 +
* Introduces of new level of LEGO Robots programming: children can create interactive educational LOGO projects that interact with LEGO robots, easy button/turtle controls, and easy visualization of data collected by robots - programmable by children Logo programmers!
 
* Implemented in Imagine and [[NBC|Next Byte Codes]] (NBC)
 
* Implemented in Imagine and [[NBC|Next Byte Codes]] (NBC)
 
* Three levels of use:
 
* Three levels of use:
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# Loadable imagine library (nxt.imt) that contains set of procedures for direct control of NXT robot over Bluetooth from your Imagine projects
 
# Loadable imagine library (nxt.imt) that contains set of procedures for direct control of NXT robot over Bluetooth from your Imagine projects
 
# Interpreter of Logo running on the NXT that can run logo programs (with restricted syntax), which can communicate with Imagine projects and control the robots motors and sensors.  
 
# Interpreter of Logo running on the NXT that can run logo programs (with restricted syntax), which can communicate with Imagine projects and control the robots motors and sensors.  
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# Finally :-), you can use NXT Logo completely without Imagine Logo, it is self sufficient.
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== Motor & Sensor procedures ==
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* NXT Logo is available free of charge, and it is open-source project
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* First preview version (without memory garbage collection) available for download on 2nd October 2007
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(motor m cmd arg)
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* Important note: NXT Logo is currently interpreted by a program implemented in an interpreted language NBC. Therefore, it is not suitable where fast performance is important (for example LEGO competitions).
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  where m is the number of motor(s) as in NBC:
 
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    0 - motor A
 
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    1 - motor B
 
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    2 - motor C
 
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    3 - motors AB
 
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    4 - motors AC
 
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    5 - motors BC
 
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    6 - motors ABC
 
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  and cmd is one of (with the corresponding argument, similar to NBC): 
 
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    onfwd      power
 
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    onrev      power 
 
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    off        (ignored)
 
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    float      (ignored)
 
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    fwdr        [power regmode]
 
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    revr        [power regmode]
 
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    fwds        [power turnpct]
 
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    revs        [power turnpct]
 
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    onrot      [power angle]
 
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    rst        kind  (1-4)   
 
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(readmotor m cmd)
 
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  where cmd is one of:
 
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    rotations
 
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    tacho
 
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    blocktacho
 
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(sensor N)
 
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(setsensor N type)
 
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    where type is number according to NBC:
 
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      0 - raw
 
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      1 - switch
 
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      2 - temperature
 
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      3 - refl
 
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      4 - angle
 
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      5 - light active
 
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      6 - light inactive
 
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      7 - sound db
 
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      8 - sound dba
 
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      9 - custom
 
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      10 - lowspeed
 
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      11 - lowspeed with 9V
 
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      12 - high speed
 
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    add the following constants for adjusting the output:
 
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      32 - boolean output (0/1)
 
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      64 - transition count
 
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      96 - period counter
 
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      128 - percentage (0-1023 value normalized to 0-100)
 
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      160 - temperature in C
 
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      192 - temperature in F
 
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      224 - angle steps
 
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      31 - slope mask
 
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      224 - mode mask
 
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== Supported primitives ==
 
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NXT Logo supports the following primitive procedures and operations:
 
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# Arithmetic:  ''<tt>add, sub, mul, div, mod, neg</tt>''
 
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# Logic: ''<tt>and, or, xor, not</tt>''
 
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# Bitwise: ''<tt>bitand, bitor, bitxor, bitnot</tt>''
 
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# Lists and words: ''<tt>first, bf, last, bl, item, se, list, word</tt>''
 
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# Maps & co.: ''<tt>map, apply, foreach, run, remote</tt>''
 
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# Loops and conditions: ''<tt>repeat, while, foreach, if, ifelse</tt>''
 
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# Predicates: ''<tt>empty? number? list? word? equal? gt? lt? ge? le? member?</tt>''
 
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# Variables and procedures: ''<tt>make, let, to, op, stop, erase, launch</tt>''
 
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# NXT file handling: ''<tt>load, printto, fopen, fwrite, fread, fclose, fremove</tt>''
 
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# Sounds: ''<tt>tone, sound</tt>''
 
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# Motors, sensors: ''<tt>motor, readmotor, sensor, setsensor, battery</tt>''
 
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# Other: ''<tt>wait, random, print, draw, ascii, char, boot, gc, fm</tt>''
 
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The expressions must be in prefix notation. Variables are used the same way as in Logo - as "name when referring to variable name, and as :name when referring to its value. There are global variables as well as local variables, lexical scoping as usual in Logo.
 
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The <tt>(remote "expression)</tt> operations allow to start evaluating an expression on NXT when started from PC, and vice-versa. This can be used for communication. Of course, one could then easily say, for example:
 
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remote "|[print "hello]|
 
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or
 
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remote "|[my_program 123]|
 
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or read value of remote variable:
 
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remote "|:var|
 
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However, one has to keep in mind that BlueTooth communication is slow due to switching of the direction of the transceiver and receiver. Therefore, it is preferable to implement higher-level functions and procedures that can run on NXT brick autonomously. Logo programs have about 30kb of memory available - for storing both the logo programs and data, however, programs can load/erase data and code from NXT files that are stored in the large flash.
 
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== Examples ==
 
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Some sample code for Logo for NXT is in the [http://webcvs.robotika.sk/cgi-bin/cvsweb/robotika/src/imagine/nxt/logo/current/examples Examples folder].
 
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== Syntax ==
 
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Detailed syntax is shown in the file [http://webcvs.robotika.sk/cgi-bin/cvsweb/~checkout~/robotika/src/imagine/nxt/logo/current/syntax.txt?content-type=text%2Fplain syntax.txt].
 
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== Reference Guide ==
 
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More detailed description of all commands and the system are located here:
 
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[http://webcvs.robotika.sk/cgi-bin/cvsweb/~checkout~/robotika/src/imagine/nxt/logo/current/reference_guide.html Logo for NXT Reference Guide].
 
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== Internals ==
 
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Short specification of the Logo for NXT internals is in the file
 
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[http://webcvs.robotika.sk/cgi-bin/cvsweb/~checkout~/robotika/src/imagine/nxt/logo/current/specification.txt?content-type=text%2Fplain specification.txt].
 
  
 
== Publications ==
 
== Publications ==
  
 
* [[Media:eurologo2007_nxtlogo.pdf|Eurologo 2007 paper]] and [http://webcvs.robotika.sk/cgi-bin/cvsweb/~checkout~/robotika/src/imagine/nxt/logo/doc/nxtlogo.ppt presentation]
 
* [[Media:eurologo2007_nxtlogo.pdf|Eurologo 2007 paper]] and [http://webcvs.robotika.sk/cgi-bin/cvsweb/~checkout~/robotika/src/imagine/nxt/logo/doc/nxtlogo.ppt presentation]
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* [[Eurologo2007 Workshop]]
 +
* [[http://webcvs.robotika.sk/cgi-bin/cvsweb/~checkout~/robotika/src/imagine/nxt/logo/doc/nxthungarologo.ppt presentation modified for HungaroLogo]]
 +
 
__notoc__
 
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Revision as of 22:54, 1 October 2007

Welcome to Logo for NXT

Features

  • General-purpose educational Lisp-like functional language
  • Introduces of new level of LEGO Robots programming: children can create interactive educational LOGO projects that interact with LEGO robots, easy button/turtle controls, and easy visualization of data collected by robots - programmable by children Logo programmers!
  • Implemented in Imagine and Next Byte Codes (NBC)
  • Three levels of use:
  1. Interactive Imagine project with direct GUI controls that allow interfacing with NXT robot over Bluetooth
  2. Loadable imagine library (nxt.imt) that contains set of procedures for direct control of NXT robot over Bluetooth from your Imagine projects
  3. Interpreter of Logo running on the NXT that can run logo programs (with restricted syntax), which can communicate with Imagine projects and control the robots motors and sensors.
  4. Finally :-), you can use NXT Logo completely without Imagine Logo, it is self sufficient.
  • NXT Logo is available free of charge, and it is open-source project
  • First preview version (without memory garbage collection) available for download on 2nd October 2007
  • Important note: NXT Logo is currently interpreted by a program implemented in an interpreted language NBC. Therefore, it is not suitable where fast performance is important (for example LEGO competitions).

Publications


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