July 25 Working inside Haiku LMS

Currently working inside the course in Haiku LMS to verify and document the install for devices the course will support.  Want installs to be smooth and hopefully fast. Here is a screen shot of Devices overview page.

CBCv2 is expected to be the first device fully supported and documented in the course.

July 5 LMS Flashing and drivers

Normally when NXT acts odd, reflash firmware and all is fine. But what can be done with the device not recognized and comes up as Unknown Device / faulty device? This post document the symptons and a simple solution that worked.

I use my NXT with various software and firmware for teaching children NXT Mindstorms (waterbotics) and Lejos, Enchanting, a Scratch like puzzle language, as well as ecos with Forte for this project to teach industrial automation.

Last week my NXT got confused and would not let programs to be downloaded. Finally decided to reflash the firmware.

NXT Mindstorms software normally recognizes an NXT even if other firmware is loaded or in reset mode. It didn't.

Device driver listed as Unknown device, even on my laptop with Atmel driver and SAM-BA.

Tested my set-up with another NXT and the driver showed up, both for Lego and in reset mode.

Somehow connecting a working NXT, fixed the general driver problem. Afterwards the faulty NXT was recognized as a known device, so flashing was easy. In this case the Mindstorms firmware renamed from .rfx to .bin, since was on my development laptop, but its summer workshop time. 

Back to LMS forte next week.

June 26 Multiple constructions with 1 NXT

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.

June 15 RPi as BrickPi

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 !

June 6 ARM7 compilers

[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:

• what is difference between arm-elf and arm-eabi?
• http://www.openhardware.net/Embedded_ARM/Toolchain/
• http://www.emb4fun.com/arm/gabmt/index.html

May 28 Loopback adapter now

Using loopback adapter fixed some firewall issues in the past so install loopback adapter and will see if helps with RPi firewall issues.

Setting up loop back device with Windows 7...
Similar but slightly different to: Mar.15 Setting uploop back device post

• Open Device Manager 
• Right click on computer name
• chose add legacy hardware
• Next
• Chose add manually
• Chose Network adapters
• Chose Microsoft and Loopback adapter

Apr. RPi+forte

A first apps using RPi work using wiringPi interface with forte.
This should help Arduino community get onboard faster.

Update (again): wiringPi is under LGPL . 4DIAC under EPL. Told "as long as you only link against an dynamic library (.so) and don't copy their code (i.e., only use their headers) it should be ok."

Picture will be added... doing more testing and working on course. Video in next post.
[Using breadboard with 220 Ohm resistors and 8 LEDs, usually red]

System model

Note: IP address is LAN IP address of the device.

Tired of blinky... here is an app to test LED on various RPi Pins: