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You must download sound files for JohnNXT into the master NXT by using BricxCC (see Appendix A). To play sounds, use Sound (sound, wait_completion)
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CHAPTER 8 JOHNNXT IS ALIVE!
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where sound is one of the constants in Table 8-3 and where the wait_completion can be true (the program waits until the sound has been completely executed) or false (the program starts the sound and continues at once). Table 8-3. Opcodes to Play JohnNXT Sounds
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Play Number Five is alive!" Play I am alive. Play Yeah! Johnny 5! That s cool! Play Hello, bozos! Play Need input! Play Malfunction! Play soundtrack loop Stop sounds Play one of the preceding sounds randomly
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Constant
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S_ALIVE1 S_ALIVE2 S_COOL S_HELLO S_INPUT S_MALFUNCTION S_LOOP S_NONE S_RANDOM
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Moving the Slave NXT Motors
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The torso, arms, and laser motors are connected to the slave NXT on the ports specified in Table 8-4. Table 8-4. Slave NXT Constant Definitions for Motors and Sensors
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Device
Torso motor Arms motor Laser treads Laser-tip Light Sensor
Port
OUT_A OUT_B OUT_C IN_1
Alias
TORSO ARMS LASER LASER_TIP
You can control those motors by calling the following function (implemented inside J5_comm.nxc) within JohnNXT s master program: Remote (opcode, ack) opcode is one of the constants in Table 8-5, and ack can be either ACK_RX or ACK_DONE. With ACK_RX, the master program just waits for the slave to receive the command, while with ACK_DONE, the master program hangs on until the slave has finished the action it was told to do. The constants listed in Table 8-5 are used in the slave program both as commands to be executed and as state descriptions.
CHAPTER 8 JOHNNXT IS ALIVE!
Table 8-5. Constant Definitions to Move Torso, Arms, and Laser
Output Device
Torso motor Torso motor Torso motor Torso motor Torso motor Torso motor Arms motor Arms motor Arms motor Arms motor Arms motor Arms motor Arms motor Laser motor Laser motor Laser light Laser light Laser light
Action
Lower torso to downmost position using torque sensing Bring torso to middle position Bring torso to up position Bring torso to upmost position Move torso a step up Move torso a step down Fold the arms Move forearms up Close hands Open hands Rotate wrists Step towards open hands state Step towards folded arms state Raise laser Lower laser Turn laser tip on Turn laser tip off Blink laser tip
Constant
T_DOWN T_MID T_UP T_UPMOST T_STEPUP T_STEPDOWN A_FOLDED A_UP A_CLOSED A_OPEN A_ROTATE A_STEP_OPEN A_STEP_CLOSE L_UP L_DOWN L_ON L_OFF L_BLINK
This concludes the programming guide, a sort of handy Software Development Kit (SDK) intended for those who want to write custom programs for JohnNXT. Now that you know what s running inside JohnNXT s brain, it s time to put him together.
Building JohnNXT
Constructing JohnNXT takes quite a long time and more than a thousand LEGO elements. As stated at the beginning of this chapter, you need more than two NXT sets parts, because many of them are not included in the standard set just to name a few, the neck pistons, the tread links, and the arms chain links. The complete bill of materials is shown in Figure 8-10, and the textual list in Table 8-6.
CHAPTER 8 JOHNNXT IS ALIVE!
Figure 8-10. The bill of materials for JohnNXT
CHAPTER 8 JOHNNXT IS ALIVE!
Table 8-6. JohnNXT Bill of Materials
Quantity
11 5 4 5 5 3 3 11 1 3 6 6 2 3 4 16 3 2 1 2 11 3 1 2 1 9 8 1 14 2 2 23 2 2 1
Color
Dark gray Light gray Dark gray Black
Part Number
32316.DAT 44294.DAT 32009.DAT 3737.DAT 55804.DAT 55805.DAT 55806.DAT
Part Name
TECHNIC Beam 5 TECHNIC Axle 7 TECHNIC Beam Liftarm Bent 45 Double TECHNIC Axle 10 Electric Cable NXT 20cm Electric Cable NXT 35cm Electric Cable NXT 50cm TECHNIC Beam 11 TECHNIC Axle 12 TECHNIC Beam 13 TECHNIC Beam 15 MINDSTORMS NXT Motor MINDSTORMS NXT TECHNIC Axle Joiner Double Flexible TECHNIC Axle 6 TECHNIC Beam 7 Liftarm Bent 53.5 (4:4) TECHNIC Panel Fairing #5 Tire Model Team Electric MINDSTORMS NXT Sound Sensor Electric MINDSTORMS NXT Light Sensor TECHNIC Beam 7 TECHNIC Axle 8 TECHNIC Beam 9 Liftarm Bent 53.5 (7:3) TECHNIC Steering Link 9L MINDSTORMS NXT Ultrasonic Sensor TECHNIC Beam 9 TECHNIC Bush 1/2 Smooth Bar 4L Light Saber Blade TECHNIC Axle 4 TECHNIC Beam 5 Bent 90 with 4 Pins TECHNIC Universal Joint TECHNIC Beam 5 Liftarm Bent 90 (4:2) Plate 2 3 Wheel Model Team TECHNIC Liftarm Triangle
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