lego_nxt_teleoperation_introduction
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| lego_nxt_teleoperation_introduction [2024/08/04 15:30] – created hhameed | lego_nxt_teleoperation_introduction [2024/08/15 23:30] (current) – Build Instruction Links hhameed | ||
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| + | **Author: **Hashim H., Email: hameeh1@unlv.nevada.edu | ||
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| + | **Date: **Last modified on [08/04/24] | ||
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| + | **Keywords: **NXT, Teleoperation | ||
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| The following tutorial has the motivation of education on teleoperation using the Lego NXT module using readily available peripherals. This tutorial assumes: | The following tutorial has the motivation of education on teleoperation using the Lego NXT module using readily available peripherals. This tutorial assumes: | ||
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| - | * Unordered List ItemA basic understanding of C++ (or general object oriented programming) | + | |
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| + | *A basic understanding of C++ (or general object oriented programming) | ||
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| - | * [[BricxCC]] | + | * [[http:// |
| - | * (If needed) [[NXT USB Driver]] | + | * (If needed) [[https:// |
| - | * (If needed) [[NXC Firmware]] | + | * (If needed) [[https:// |
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| **Step 3** | **Step 3** | ||
| - | Download the required NXC library and sample/demo on the controller product page listed above or here. It is highly recommended that you compile and run the included sample to understand how to interface with the library. | + | Download the required NXC library and sample/demo on the controller product page listed above or [[http:// |
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| In any file using the PS2 library, always import the library file and define/ | In any file using the PS2 library, always import the library file and define/ | ||
| - | The following is an example of moving a motor connected to port A based on the input of the PS2 controller’s left stick: | + | {{:nxt_controller_motor.jpg? |
| - | <code c basic_movement.nxc> | + | The following is an example of moving a motor connected to port A based (pictured above) on the input of the PS2 controller’s left stick: |
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| + | [[http:// | ||
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| + | <code c [enable_line_numbers=" | ||
| //imports the library | //imports the library | ||
| #include " | #include " | ||
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| </ | </ | ||
| - | Given verification of user input given controller output, robotic teleoperation can be performed by building out the module with two motors in a manner similar to the domabot’s base (full instructions here) and determining output based on controller input. | + | Given verification of user input given controller output, robotic teleoperation can be performed by building out the module with two motors in a manner similar to the domabot’s base (full instructions |
| - | The following are examples of functions to use in your main loop for teleoperation (assuming motors connected to ports B and C): | + | {{:nxt_controller_drive.jpg? |
| + | [[https:// | ||
| - | <code c drive_functions.nxc> | + | The following are examples of functions to use in your main loop for teleoperation (assuming motors connected to ports B and C [pictured above]): |
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| + | <code c [enable_line_numbers=" | ||
| //Pass in the current state of a given joystick axis to the respective field(s) | //Pass in the current state of a given joystick axis to the respective field(s) | ||
| void tankDrive(int rightStickY, | void tankDrive(int rightStickY, | ||
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| The following are example functions that may be used and adjusted based on peripheral construction and purpose: | The following are example functions that may be used and adjusted based on peripheral construction and purpose: | ||
| - | <code c peripheral_functions.nxc> | + | <code c [enable_line_numbers=" |
| //Rotates a motor forward and backward using the square button | //Rotates a motor forward and backward using the square button | ||
| //Can be used in mechanisms such as a gripper/ | //Can be used in mechanisms such as a gripper/ | ||
| //Fill variable “pressures.square” into respective field | //Fill variable “pressures.square” into respective field | ||
| - | //Boolean variables " | + | |
| + | //Boolean variables " | ||
| + | //as doing so within while loop resets the respective states each iteration | ||
| bool closed; | bool closed; | ||
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| } | } | ||
| </ | </ | ||
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| + | The following are links to various mobile robot builds and mechanisms to be customized for your teleoperational purposes: | ||
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| + | [[https:// | ||
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| + | [[https:// | ||
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| + | [[https:// | ||
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| + | {{ : | ||
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| + | {{ : | ||
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| + | The purpose of this tutorial has been to inform of the potential for teleoperation using the Lego NXT module, a user utilizing a remote controller to execute defined functions which while explained for mechanical use, may extent far beyond such. | ||
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| + | Speculating future work derived from this tutorial includes that of autonomous NXT module operation with an emphasis on function execution in response to visual data. | ||
lego_nxt_teleoperation_introduction.1722810629.txt.gz · Last modified: by hhameed