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JohnNXT Features
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Let me try to summarize all the JohnNXT features. From now on, I ll refer to version 5, the final one. This complex robot is a differential drive mobile robot, meaning that it has two independent treads to move around. You can vary its angular speed (rotational speed about its turning center) by driving the treads at different speeds; to drive it straight, the treads must turn at the same speed.
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Sensors and Actuators
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Check out the following features in Figure 8-7. Two NXT bricks are used to drive six motors. The master NXT, placed in the abdomen, drives the two motors for the treads, as well as the third motor, used to turn the head. The slave NXT, built in the base, controls the other three motors. The fourth motor is used to raise the whole robot s body, both the lower column and the torso; the fifth motor is used to move the arms; and finally the sixth motor is used to arm and disarm the laser.
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CHAPTER 8 JOHNNXT IS ALIVE!
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Light sensor Head motor
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Ultrasonic sensor
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Microphone Arms motor Laser motor
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Master NXT Line tracking sensor
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Treads motors
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Slave NXT
Torso lifting motor High speed serial communication
Figure 8-7. Panoramic view of JohnNXT s features
CHAPTER 8 JOHNNXT IS ALIVE!
JohnNXT senses the world through a down-facing Light Sensor, the Ultrasonic Sensor in the head, and a microphone. It also uses the master NXT buttons to get commands from you. This equipment allows JohnNXT to follow a black line on the ground, to follow your hand, or to react to sounds. He can grab and lift small objects, commanded by a sound-counting FSM. The moving parts that have a limited moving range such as the head, the arms, the torso, and the laser (practically everything except the treads) use the servomotors automagic built-in limit switch technique (see 4 for details) to reset every part to its zero position when the programs are started. The head s motor feels when the neck has reached its leftmost position, the arms motor feels when the arms are completely folded, the torso s motor feels the downmost torso limit, and the laser s motor feels when the laser is completely raised or lowered, all using the same method. Now, you should realize how powerful this technique is. To do the same thing without servomotors, I would use many Touch Sensors, sometimes putting them in awkward places. To manage the intermediate positions of these mechanisms to know by which angle a certain part must rotate to get into another state I use decision tables, as described in detail in 3.
JohnNXT s Behavior and Menu
JohnNXT features a simple autonomous behavior, schematized in Figure 8-8. When nothing interesting happens around him, he fools around, by performing some action and playing sounds from his repertoire. If the environment becomes crowded and noisy (the Ultrasonic Sensor sees something near and the microphone measures a loud continuous sound), JohnNXT becomes angry, and enters into attack mode: he aims his laser and remains there, threatening, until everything gets calm again. If he sees someone getting near and the noise level is reasonably low, he greets and then asks for input. It enters into the menu as soon as you press the master NXT orange button. From the menu, you have access to all JohnNXT functionalities: remote control, line following, hand following, arms sound control, and show off. In the Remote Controlled mode (R/C), you can fully control JohnNXT with the remote device described in 9. In the Line Following mode, you re asked to calibrate the bottom Light Sensor on the light ground and on the dark line, similar to the Turtle in 6, and then JohnNXT follows the line. In the Hand Following mode, JohnNXT swings his head and moves toward your hand when he sees it near. If the head is centered, he will move straight; if the head is turned on the side, he will move steering on that side; and if the hand is too near, JohnNXT will back up. In the Arms Control mode, you can control JohnNXT s arms with repeated sound pulses. In the Show Off mode, JohnNXT exhibits all his functionalities, synchronized with a looped soundtrack. The JohnNXT complete user guide and the main programming topics to get him to work will be discussed in the following sections.
CHAPTER 8 JOHNNXT IS ALIVE!
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