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Panoramic View of the JohnNXT Software
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When you are about to write a program for a complex project, the basic rule is to divide et impera, the Latin motto corresponding to divide and conquer. To maintain the whole program easily, you should split it up into small parts; it is a good habit to split every program into many functions and subroutines. Of course, you already know that, but I mean that the program should also be divided into many files. So, you ll have an NXC file with the routines to manage head movements, another one devoted to remote control command reception, and so on. Then, in the main file, you just need to include the subfiles with the known preprocessor directive #include "filename.nxc". The general working of JohnNXT is shown in Figure 8-8 and is described in the section JohnNXT Behavior and Menu. Now, let s dive into the details. As you know, JohnNXT is controlled by two NXT bricks: the master, placed in the body, and the slave, the one built in the base. You need two different programs for these two NXTs. The FSM in Figure 8-8 is implemented in the master program, while the slave program s duty is just to receive and execute the commands from the master program. The whole slave NXT is just an interface to let the master control the three auxiliary motors attached to it: the torso, the arms, and the laser motors. As said before, the two NXTs communicate through a standard 6-wire cable connecting their respective ports 4. So, I prepared a simple library to use this kind of communication, the High Speed Communication Library, implemented in the file HSlib.nxc. In the following section, you ll learn how to use this library, so you can also reuse it in your own two-NXT robots.
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CHAPTER 8 JOHNNXT IS ALIVE!
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After that, I ll describe the two programs in an outline form, first starting from the slave, and then proceeding with the master, where we'll focus on the sound counting routine.
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High Speed Communication Library
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Exploiting the serial communication behind port 4 is made simple by this NXC library. To use the library, simply include it at the top of your program: #include "HSlib.nxc"
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Caution The HSlib.nxc file must be located in the same folder of your program, otherwise the compiler
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won t be able to find it.
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At the beginning of the program, you can initialize port 4 by calling SetHSPort(); This is enough to tell the NXT firmware to enable the RS485 chip for the serial communication. To send a string, simply call SendHSString ( msg ); where msg is the string you want to send. To send a number, call SendHSNumber ( num ); where num is the integer you want to send. To receive a string, make the following call: result = ReceiveHSString ( msg ); After the call, the Boolean result will be true if the buffer is not empty, and the msg string will contain the received data. If the buffer is empty, or the data is equal to zero, the result value will be false. To receive an integer number, call result = ReceiveHSNumber ( num ); As before, after the call, the Boolean result will be true if the buffer is not empty, and the num variable will contain the received data. If the buffer is empty, or the data is equal to zero, the result value will be false. This function, as does the preceding, features a timeout mechanism to avoid remaining stuck if the high-speed buffer is empty. Next I ll describe the two programs in outline form, starting from the slave the simpler and proceeding with the master, where I ll focus on the sound counting routine.
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CHAPTER 8 JOHNNXT IS ALIVE!
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