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--- lego_nxt_teleoperation_introduction [2024/08/04 15:49] – Links hhameed
+++ lego_nxt_teleoperation_introduction [2024/08/15 23:30] (current) – Build Instruction Links hhameed
@@ Line 1: / Line 1: @@
 <fs xx-large>**LEGO NXT Teleoperation Introduction**</fs>
+\\
 **Author: **Hashim H., Email: hameeh1@unlv.nevada.edu
 \\
@@ Line 41: / Line 41: @@
 **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://www.mindsensors.com/index.php?controller=attachment&id_attachment=39|here]]. It is highly recommended that you compile and run the included sample to understand how to interface with the library.
@@ Line 48: / Line 48: @@
 In any file using the PS2 library, always import the library file and define/instantiate related variables such as the module address (for communication), sensor port, and controller stat/pressure variables.
-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?400|}}
-<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:
+[[http://www.mindsensors.com/index.php?controller=attachment&id_attachment=39 | Library Download]]
+<code c [enable_line_numbers="true"] basic_movement.nxc>
 //imports the library
 #include "PSP-Nx-v4-lib.nxc"
@@ Line 85: / Line 89: @@
 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 [[https://www.damienkee.com/storage/domabot_build.pdf|here]]) and determining output based on controller input.
-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?400|}}
+[[https://youtu.be/hLN8Q94Waso | Video Example]]
-<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]):
+<code c [enable_line_numbers="true"] drive_functions.nxc>
 //Pass in the current state of a given joystick axis to the respective field(s)
 void tankDrive(int rightStickY, int leftStickY){
@@ Line 105: / Line 112: @@
 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="true"] peripheral_functions.nxc>
 //Rotates a motor forward and backward using the square button
 //Can be used in mechanisms such as a gripper/claw and projectile “kicker”
@@ Line 149: / Line 156: @@
 }
 </code>
+**<fs x-large>Additional Build Instructions</fs>**
+The following are links to various mobile robot builds and mechanisms to be customized for your teleoperational purposes:
+[[https://www.lego.com/cdn/product-assets/product.bi.core.pdf/4556207.pdf|Castor Bot & Kick Mechanism]]
+\\
+[[https://www.nxtprograms.com/game_control_car/steps.html|Elevated Castor Robot]]
+\\
+[[https://www.nxtprograms.com/claw_car/steps.html|Claw Mechanism]]
+\\
+{{ :band-powered.pdf |"Band-Powered"}}
+\\
+{{ :coralle_and_kick.pdf |Corrale & Kick}}
+<fs x-large>**Final Words**</fs>
+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.
+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.