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In Listing 8-2, I show the master JohnNXT program s outline. Even though the real code is replaced by explanatory comments, the listing is still very long. That s why I chose not to report the entire code. Listing 8-2. The Master Program Outline #include #include #include #include #include #include #include #include "J5Defs.nxc" "J5_comm.nxc" "J5_head.nxc" "J5_sounds.nxc" "J5_lineflw.nxc" "J5_handflw.nxc" "J5_show.nxc" "J5_remote.nxc"
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// global state variable for JohnNXT behavior FSM short J5_state; void J5_Init() { TextOut(0,LCD_LINE1,"Initializing..."); SetHSPort(); SetSensorLowspeed(EYES); SetSensorSound(MIC); Remote(L_UP,ACK_DONE); Remote(T_MID,ACK_DONE); Remote(A_FOLDED,ACK_DONE); head_state = UNKNOWN; J5_state = IDLE; Head(CENTER,1); } //////////////////////////////////////////////////////////////////////////////// // MANIPULATION // //////////////////////////////////////////////////////////////////////////////// // here is the code to control JohnNXT's arms using sound pulses [...]
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CHAPTER 8 JOHNNXT IS ALIVE!
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//////////////////////////////////////////////////////////////////////////////// // SUBROUTINES FOR BEHAVIOR STATES // //////////////////////////////////////////////////////////////////////////////// sub J5_Armed() { // lowers torso and laser // aiming it at whoever is present // when a loud noise occurs } sub J5_Greeting() { // makes JohnNXT greet and then waits for someone // to click the orange button, to enter menu. // if nothing happens within 3 seconds // comes back to idle mode } sub Idle_treads() { // called by J5_Random, moves treads } sub J5_Random() { // performs random actions } sub J5_Idle() { // Reads Ultrasonic Sensor and mic values: // if someone is near, enters GREETING mode, // but if there is also a loud noise, // enters ARMED mode. // Otherwise calls J5_Random, // then waits for a random amount of time } //////////////////////////////////////////////////////////////////////////////// // MENU // //////////////////////////////////////////////////////////////////////////////// [...] //menu opcodes definitions short DisplayMenuItems(short item) {
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CHAPTER 8 JOHNNXT IS ALIVE!
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//displays the specified menu item } short MenuEngine() { //calls DisplayMenuItems to browse the menu and returns //the chosen item } sub J5_Menu() { //calls MenuEngine() and //changes J5_state according to menu choice } //////////////////////////////////////////////////////////////////////////////// // MAIN // //////////////////////////////////////////////////////////////////////////////// task main() { KeepAliveType kaArgs; J5_Init(); J5_state = IDLE; // J5 behavior FSM while (true) { switch(J5_state) { case ARMED: J5_Armed(); J5_state = IDLE; break; case GREETING: J5_Greeting(); break; case HANDFOLLOW: J5_HandFollow(); J5_state = MENU; break; case IDLE: J5_Idle(); break; case LINEFOLLOW: J5_LineFollow(); J5_state = MENU; break;
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CHAPTER 8 JOHNNXT IS ALIVE!
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case MANIPULATION: J5_Manipulation(); J5_state = MENU; break; case MENU: J5_Menu(); // next state is determined by user choice break; case SHOWOFF: J5_Show(); Remote(T_MID,ACK_DONE); Remote(A_FOLDED,ACK_DONE); Remote(L_UP,ACK_DONE); J5_state = MENU; break; case REMOTE_CONTROL: if (BluetoothStatus(0)==NO_ERR) { // if the Bluetooth master NXT (remote control) // is connected, call J5_Remote_Control() J5_Remote_Control(); Remote(T_MID,ACK_DONE); Remote(A_FOLDED,ACK_DONE); Remote(L_UP,ACK_DONE); } else { // show error message ClearLine(3); TextOut(0,LCD_LINE3,"Remote offline!"); Wait(1000); } J5_state = MENU; break; } // keep the NXT alive: this system call // resets the sleep timer, to avoid having the NXT // turn off automatically when the program is running. SysKeepAlive(kaArgs); } } The master program core is in the main task, where I implemented the FSM that regulates JohnNXT s behavior. The diagram of this FSM is shown in Figure 8-8. The structure of main is quite similar to the skeleton program in Listing 3-4, described in 3, in the section FSM General Implementation. You can refer to that chapter to go over the FSM argument again, if you still have some doubts.
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CHAPTER 8 JOHNNXT IS ALIVE!
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At a quick glance, the program looks modular: the working of every FSM state is implemented in a separate subroutine, to help the readability and maintainability of this big program. Also, notice the many NXC subfile inclusions at the top of the program. The master program is not as complicated as you might think. It is long, but it uses many techniques and tricks that I have already presented throughout the book, with which you might feel familiar by now. Next, I ll discuss the part of the master program worthy of a detailed explanation: the FSM that allows you to control JohnNXT s arms with sounds.
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