skip to main |
skip to sidebar
What if a student wants to do have stations, but only has 1 NXT? For example where 1 robot does something and another to delivers or picks-up the material or product.
Background: The IEC 61499 tutorial assumes users have access to popular Lego NXT set. Some may be able to work in teams using multiple NXT sets together or with another device (RaspberryPi or CBCv2) so -between communication between devices can be used.
But what if alone with just 1 NXT?
So here are suggestions for mini-robots to get the most out of 1 NXT set.
For example a windmill that grinds grain. The Stomper alone could be used to create a Press example. Sensors are not included here, but can easily be added to control via sensor state.
Additionally a 1 motor robot (forwards/backwards only) to deliver or pick-up a product. Note the cable can interfere with how well the car goes straight forward and back to the same place.
This windmill is a combination Clinton Blackmore's Windmill and Stomper constructions.
Mini-car should be able to be constructed just from these pictures.
 |
| 1 Motor Mini-Robot Car |
 |
| Mini-Robot Car parts |
See simple Building Ideas by Clinton Blackmore for these and other simple constructions to build on.
Let's combine using Lego Mindstorms (LMS) and Raspberry Pi for hardware option for running IEC61499.
See this Kickstarter campaign for the BrickPi! which is 60x over its goal. Still 1 day to go.
There are also instructions online to build your own BrickPi via open Hardware (links on right)
Judging from the backing this will be popular very quick.
For the tutorial it would allow those already with popular Lego Mindstorms and low-price popular Raspberry Pi and low cost BrickPi board use.
Best to use another board to run motors with RPi, so why not BrickPi and use Lego NXT motors and also get use of the Lego sensors.
Side Note: CBCv2 has been supported in release version of 4DIAC since Sept. 2012.
The CBC motors and sensors if available also work well with RPi !
[Back to LMS=Lego(TM) Mindstorms (TM) NXT with ARM7 inside]
We have been and currently are still using the GNU ARM toolchain with OpenOCD. (see other posts)
For a long time we have looked at other compilers to see if it would help make the FORTE footprint smaller. Especially looking for a way to try using thumb instructions. Various tries did not work. ARM GNU looks like they have a now have t-arm-elf version.
This post will be used to document what we find out.
For a start a link collection:
