barcode rendering framework c# example Figure 8-8. The FSM describing JohnNXT s behavior in Font

Make PDF-417 2d barcode in Font Figure 8-8. The FSM describing JohnNXT s behavior

Figure 8-8. The FSM describing JohnNXT s behavior
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JohnNXT User Guide
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Before we get into the programming details, a good user guide to exploit all JohnNXT s features is needed. This section will lead you through all JohnNXT s functions.
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Turning It On
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Calm down, I m not teasing you! I know that you know how to turn on two NXTs and how to start the programs! This section explains how to get JohnNXT working, seeing it as a system composed of three NXT bricks. Two of them are locally connected with a 6-wire cable, while the third NXT is the one for the remote control device. Turn on both the master and the slave NXT in JohnNXT. Then, start the slave program. At the beginning, the slave performs the initialization of the hardware: it resets the torso to its downmost position, folds the arms, raises the laser, and then raises the torso to its middle position again. Only after that can it start receiving and executing the master s commands.
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CHAPTER 8 JOHNNXT IS ALIVE!
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Now run the master program, which starts by telling the slave to reset all the moving parts, and then brings the head into the central position. If the master program was started before the slave, it would hang on, waiting for the slave to respond, and would continue to repeat the message until it received the slave acknowledgement (ack), meaning that the action has been completed. Using this kind of protocol, no command gets lost.
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Note A message-exchanging communication protocol is termed synchronous, if the sender is blocked
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until the receiver responds with an ack, and the receiver is blocked until it receives a message. This protocol guarantees that the two sides are synchronized. On the contrary, if the sender puts the message into a buffer and continues its execution without waiting for the receiver s ack, the protocol is termed asynchronous. The protocol used by JohnNXT is synchronous. This means that if the slave program (receiver) is not responding, the master program (sender) would become stuck.
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After that, you can start the program for the remote control (see 9); it automatically connects to the master NXT via Bluetooth. If you don t connect the remote, you ll get an error message saying Remote offline on the master NXT screen, when trying to activate the R/C item (Remote Controlled mode) in the JohnNXT menu. Remember that you cannot control JohnNXT remotely unless you select the R/C mode from the menu first.
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Autonomous Behavior
Once both master and slave programs are started, they reset all the moving parts of JohnNXT into their zero position. If you leave JohnNXT alone, in a quiet environment with nothing in front of him, he ll remain in the IDLE mode. He performs random actions, as shown in Figure 8-8. He also can randomly play some sound clips, such as Need input, Malfunction, and Yeah! Johnny 5! That s cool! If he sees an obstacle while in the presence of loud sounds, he ll lower his torso and aim the laser until the whole environment becomes calm again. When he simply sees something, he greets you and waits for you to press the orange button, to enter his menu.
JohnNXT s Menu
From the menu, you can access the R/C, Line Following, Hand Following, Arms Control, and Show Off modes. From the menu, you can also choose to come back to the autonomous mode (IDLE). When you are in the menu, if you don t press any button for a while, JohnNXT will come back into autonomous mode automatically.
R/C Mode
This functionality is enabled only if you ve connected the remote control to the master NXT via Bluetooth before. In this mode, JohnNXT waits for commands from the remote and executes them. As you ll also see in 9, the remote device can access all JohnNXT s features. The remote program for this particular robot works in two modes, toggled by pressing both remote buttons together. In the first mode, the joysticks control the treads and buttons that make the arms move to the open state (right trigger) or to the closed state (left trigger). In the second mode, the right joystick controls the head, the left joystick controls the torso, the
CHAPTER 8 JOHNNXT IS ALIVE!
right trigger makes JohnNXT play a random sound from his repertoire, and the left trigger arms or disarms the laser.
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