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--- nxt_automation_implementation [2024/11/23 18:47] – hhameed
+++ nxt_automation_implementation [2024/11/25 13:55] (current) – hhameed
@@ Line 10: / Line 10: @@
 The following tutorial has the motivation of documenting a means of wireless communication to a LEGO NXT module for the purpose of automation with a concentration on mobile robots. This tutorial assumes:
+  *BricxCC (Bricx Command Center) application setup
+  *A basic understanding of C+ + (or general object oriented programming)
+  *Access to basic electrical components
 <fs x-large>**Parts List and Sources**</fs>
@@ Line 110: / Line 114: @@
 Data may be passed from external sensors/devices such as cameras or even motion capture to inform the NXT module’s movement. In order to communicate with the microcontroller, the given device(s) are ideally able to run through a script containing some form of serial communication. Used in this case is the Python [[https://pypi.org/project/pyserial/|pyserial]] library. Following installation, it is recommended that [[https://projecthub.arduino.cc/ansh2919/serial-communication-between-python-and-arduino-663756|this tutorial]] be followed to verify communication between a python script and the script running on the microcontroller. Using this as a base, we may create a more robust stimulus-based movement.
-The following code shows an arduino ino file with serial communication used to inform motor speed for a mobile robot NXT.
+The following code shows an arduino ino file with serial communication used to inform motor speed for a mobile robot NXT:
+<code c [enable_line_numbers="true"] mobile_starter.ino>
+//instantiates pins & speed(s)
+const int yright = 16;
+const int yleft = 17;
+const int button = 18;
+int message;
+int stop = 75;
+int speedRight = stop;
+int speedLeft = stop;
+//Setting up pins to be output & setting analog joystick value to neutral
+//Starting serial for script communication
+void setup() {
+  Serial.begin(115200);
+  Serial.setTimeout(1);
+  pinMode(yright, OUTPUT);
+  pinMode(yleft, OUTPUT);
+  pinMode(button, OUTPUT);
+  analogWrite(yright, 90);
+  analogWrite(yleft, 90);
+  digitalWrite(button, LOW);
+}
+void loop() {
+//when communication is not actively occurring, use last defined speed value
+  while(!Serial.available()){
+    analogWrite(yright, speedRight);
+    analogWrite(yleft, speedLeft);
+  }
+  message = Serial.readString().toInt();
+//case statements with edge cases
+//if the "message" value is within the defined voltage range, it will be mapped accordingly
+//if the "message" value outputs 300, stops robot and performs action
+if(message != 0){
+  if(message > 0 && message < 200){
+    speedRight = stop + message;
+    speedLeft = stop - message;
+  }else if(message < 0){
+    speedRight = stop + message;
+    speedLeft = stop - message;
+  }else if (message = 200){
+    speedRight = 125;
+    speedLeft = speedRight;
+  }else if (message = 300){
+    speedRight = stop;
+    speedLeft = stop;
+    digitalWrite(button, HIGH);
+    delay(250);
+    digitalWrite(button, LOW);
+    delay(250);
+    digitalWrite(button, HIGH);
+    delay(250);
+    digitalWrite(button, LOW);
+  }
+//message will print to terminal of external ide
+  Serial.println(message);
+  Serial.println(speedRight);
+  Serial.println(speedLeft);
+}
+}
+</code>
 **<fs x-large>Theory</fs>**
@@ Line 124: / Line 199: @@
 {{:time_constant_demo.png?400|}}{{::time_constant_demo2.png?400|}}
 {{:time_constant_demo3.png?400|}}{{:time_constant_demo4.png?400|}}
+<fs x-large>**Final Words**</fs>