This document discusses programming a Lego Mindstorm NXT robot. It begins by explaining how to build the robot and connect it to WiFi and Bluetooth. It then discusses three levels of programming: level 0 with no program or sensors, level 1 with a single program but no interaction, and level 2 with interaction using sensors. Example programs are provided that use no sensors, respond to sound, follow a black line, and solve problems. Additional program ideas are presented, such as using all sensors at once or a joystick.

1. Programming your
Lego Mindstorm NXT RobotLego Mindstorm NXT Robot
PAU
Lycée Saint-Cricq
15-21 Mar 2015
MORE – MObile Resources on Education

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First of all…
BUILDING OUR ROBOT!
Prezi presentations
 Domabot
[Domabot on-line]
 9797 basic model
[9797 on-line]

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And our… “ramp”
 Don’t crash the
wall
Ramp version
[Ramp on-line]

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“Find” the problem…
 The Robot is doing
“somethingsomething”…
 In your opinion
which is the
problemproblem it’s
solving?

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Video… problem
 Solve “your” problem…

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We would like…
 A sequence of logical steps – e.g.:
 When you press a button:
 Go forward 3”
 Turn right 90°
 Go backwards 2”
 When you press again a button:
 Enjoy yourselfEnjoy yourself    !!!!!!
Just a…flux diagramJust a…flux diagram

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Flux Diagram (example)
Start
Acquire
distance
Set
distance(=100)
50<distance<100
Set Motors
Backwards
Power 20%
YES
NO
25<distance<49
Set Motors
Backwards
Power 60%
YES
0<distance<24
Set Motors
Backwards
Power 100%
YES
NO
NO
distance>100 Turn Motors off
YES
NO

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See you soon… 
 …talking about youryour and ourour flux
diagram
 …and the robot program!
At the end of our workshopAt the end of our workshop  !

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Programming levels…
Level 2Level 2
1 program
running
Interaction with
the environment
Level 1Level 1
1 program running
NO interaction with
the environment
Level 0Level 0
NO Program running

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NONO sensor and… NONO program
What is the robot seeing? [programming level_0]
WiFiWiFi
Bluetooth
Bluetooth

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What do you need?
 Wi Fi ConnectionWi Fi Connection:
 1 Router (IP address, e.g.: 192.168.1.1)
DHCP server
 1 notebook (IP address, e.g.:
192.168.1.55)
 1 smart phone Connected to the
“DLink” network
 Run your “IP Webcam”“IP Webcam” android app
(Your smart phone will be a webcam server)webcam server)
 Please read the IP address given by
the DHCP server (something like:
192.168.1.xxx:8080)
WiFiWiFi

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And…
 Bluetooth connectionBluetooth connection
 1 Smartphone
 MO_R_E_NXT_Remote_control_V2
 Download your own copy .apk file (from
tablet)
 Install the MO_R_E_NXT_ … program
 Connect to the robot (PAU_3, PAU_5 or
PAU_6)
 Run your software copy
 Drive your Robot
Bluetooth
Bluetooth

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Programming language (NXT 2.0)
Common
Data
Advanced
Flow
Action
Sensor

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No sensor [programming level_1]
 The robot is
programmed… It’s
always doing the
same “things”,
with no interaction
with the
environment…
We need:
 1 Domabot

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“No sensor” - Video…

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“No sensor” – Flux diagram

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NO Sensor program (1_NO_sensor.rbt)
html Version

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Sound control [programming level_2]
 The robot is moving
forward, (remote)
controlled by the
intensity of sound…
We needWe need:
1 Domabot
1 Sound
sensor

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“Sound control” – Video…

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“Sound control” – Flux diagram

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Sound control program (2_Sound_control.rbt)
html Version

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Line follower
 The robot is
following the
black line…
every path is
good to solve
“its” problem…
We needWe need:
 1 9797 robot
 1 Light sensor
 1 black path

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“Following the black line” – Video…

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“Line follower” – Flux diagram

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Line Follower program (3_Line_Follower.rbt)
html Version

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“Problem solving” – Flux diagram

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Problem solving program (4_Problem_Solve.rbt)
html Version

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Something else…
 All sensors at once
 Playing with a… joystick
 http://www.nxtprograms.com/4x4_joystick/steps.html
 Building your Express-botExpress-bot
 http://www.nxtprograms.com/9797/express-bot/steps.html

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All Sensors

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All Sensors - Programm
html Version

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Joystick Drive
html Version
http://www.nxtprograms.com/programs/Joystick_Drive.rbt