A MyBlock primer (with a side of math)

Introduction to MyBlocks in NXT-G by Brian Davis.

Advanced NXT-G Block Techniques - Part I

As promised, I will try to describe for you some “advanced” features of NXTToolkit NXT-G block coding. These features were either omitted from the documentation and examples or just wasn’t put at all due to lack of time and NI desire for clarity. In any case, these are “unofficial” and thus “unsupported” by NI. What does that mean? It means that (a) NI uses these techniques a lot in the NXT-G blocks you have, and (b) they may change the VIs at will without telling us… Anyway, till that happens, there are some very useful tricks you can use to make impressive, smart and user friendly (i.e. Kids friendly) NXT-G Blocks.

So, the first question I’ll answer is:  

How to disable/enable a control if NXT-G diagram terminal is wired ?

Look at the following picture showing the diagram of the Config VI:

There are several simple steps which you should follow to make the necessary changes:

1. Increase the size of the SubVI Propery node at the left, and select “Terminals[]” property for the new element.
2. Add a VI called “IsTerminalWired.vi”. This VI resides in “LabView\vi.lib\addons\NXTToolkit\Block Templates\Support” directory. Recommended: copy the file into your Block directory, NI may change/remove it in future versions.
3. Wire the Terms[] output and create a constant string with the label of the control/indicator in the Implementation VI you want to check if wired.
4. Right click the control in the Config front panel, select “Create/Propery Node” from the popup menu.
5. Move the new propery node, change it to “Disabled” and set it to Write mode (again, by right clicking on it).
6. Wire the “Disable if Wired” terminal of IsTerminalWired to the Disabled propery node. 

That’s all, folks! A very useful trick, which is used extensively in standard NXT-G blocks.

Advanced NXT-G Block Techniques - Part II

In this post I’ll describe another useful trick for NXT-G Block programmers. Often it is convenient to have several actions in one block. For example, my Array Block has “read”, “write” and “create/resize” actions selectable from a dropdown list. However, not allways the same terminals are needed. In the above example, read and write mode need a “Position” input terminal, while create/resize mode requires a “Size” input terminal. Here I’ll describe how one can use a single terminal, and dynamically rename it when the action is changed.

(more…)

Advanced NXT-G Block Techniques - Part III

In one of my previous posts I discussed how the NXT-G compiler does code optimization. Among the optimizations done automatically by the NXT-G compiler is ignoring implmentation VI diagram parts which are never reached by the program. In particular, say you have a Switch connected to a constant - only the case given by the constant will be compiled. One can take advantage of this when creating NXT-G blocks with multiple possibile actions. For instance, my Fixed-Point operations block has 6 actions - addition, subtraction, multiplication, division and conversion from Numeric to Fixed-Point and vise versa. The “FP Block.vi” implementation VI has all 6 in a switch, with a constant holding the current action. Note that this constant MUST resides in the “top” VI, not a SubVI, otherwise it will be common to all copies of the block in the NXT-G diagram.

This nice feature, however, posses some difficulties. To manipulate the value of controls in the Config VI and Draw VI of your block, you invoke the “Get Control Value” of the VI:

However, this DOES NOT work for constants, even after you figured out what is the label of your constant (right-click the constant and select “Properties” to set it).

A similar problem occours in writing new values. The “Set Block Param.VI” supplied by the toolkit does not work for constants.

Using VI scripting I’ve written two VIs that allow reading and writing a constant value in implementation VIs. Reading is done by “Get Const Value.VI”:

and writing by a similar “Write Const Value.VI”. Both VIs can be downloaded here.

Advanced NXT-G Block Techniques – Part IV

Motivated by a recent post in our forum regarding data logging, I started writing a series of posts on data logging options for the NXT. I also began working on a Datalog NXT-G Block dedicated to this purpose. During the block development, however, I encountered some serious performance issues regarding Array usage in the LabView NXTToolkit compiler (and hence in NXT-G) which I’ll describe in this post. Future posts will describe existing and new solutions for data logging.

(more…)

Custom Icons for Custom NXT-G Blocks

Here’s how to build your own icon for NXT-G MyBlocks.

Debugging NXT-Programs

Sooner or later all users writing programs to be executed on the NXT brick find themselves in the following situation: Your program compiles fine, is transferred to the NXT, it starts running — but it doesn’t do what you want it to! Sometimes the mistake you made is obvious, but often it’s hard to spot the flaw. Well, now it’s time for debugging: the art of finding what went wrong, and especially where. Usually during debugging, you begin to understand how your program really works, and that is what helps you fix the problem. In this post, I’d like to give some general ideas and examples for debugging NXT programs.

Independent from the language you use (NXT-G, NXC, LeJOS or whatever), you have these options to get information from a running program back to you, the debugger:

• The LCD display. This is obviously your first line of attack. Use the NXT’s display to show contents of variables, status messages, checkpoints, or anything you need. Often printing text is enough, but if you have more complex things or contents with greater volume, consider displaying graphics (pixels, graphs, symbols, etc.).
• The speaker. Don’t underestimate the NXT’s capability to play sounds or tones. I call this “acoustic debugging”. Make the NXT play signal tones or sound files when certain conditions are met, procedures are executed or a special sensor value is detected.
• Lights. Yes, that’s right. If you want to monitor a boolean value, maybe whether a certain task is running, you can use lights to show this information. There’s the red LED light of the classic NXT light sensor, the old LEGO lamps for motor ports (e.g. from the NXT Education Kit), or of course the LEDs of the new NXT 2.0 color sensor.
• Motors. If you have no space left on the display and a free motor port, why not use a motor to help you visualize a variable? You can set the motor’s power to the variable if it’s confined to a range of -100 to 100. Some of the TryMe programs utilize this method (not for debugging purpose though).
• Files. You can start generating log-files for later analysis. While this is a bit more effort initially to get yourself some helper-functions, you can re-use these routines later on in your other projects. This can be very powerful as you can include valuable information like timestamps or the calling procedure. You are however limited in available file size, and writing data to flash can sometimes take a fairly long time.
• A computer. Once you have your PC connected to the NXT via Bluetooth or USB, you can retrieve valuable information from the brick. There are many methods of different complexity. BricxCC has a nice “Watching the brick” feature, there is an NXT debug monitor which can receive string messages from your programs via mailbox queues, or you can play around with direct commands yourself.

The main reason you should think of other ways than the display during debugging: There is limited space on the LCD, and there can be problems with updating speed. It can either influence your programs performance (and certain time critical bugs might magically disappear — a Heisenbug) or your eyes aren’t fast enough to identify a flashy change. While it’s easy to overlook a certain value / text for a split of a second, you’ll usually notice a beep! Apart from that: If your program crashes, text on the LCD display is lost, while messages stored in logfiles or sent to a computer will still be readable.
Having said all this, two things are important: Most of the time, you don’t need all the different ways at once. And it’s about the right combination of methods, which depend on your actual problem.

If you’re interested in more specific details and some examples for NXC, read on. (more…)

Digital I/O on Input Port - part I

Perhaps the least documented or used feature of the NXT is the possibility of direct digital input/output using pins 5 and 6 of the input ports. When working in “Custom” sensor type, these two bits can be manipulated directly using IOMapRead and IOMapWrite ‘invoke’ commands in NXTToolkit, which in principle means a NXT-G block can also control these pins. At startup these pins are set as digital input.

In the image above you can see a nice application - using a input port to get rotation readout from the built-in tachometer encoders of the NXT motor. These encoders are usually connected to pins 5 and 6 of the output ports, and they change from 0 to 1 with a small phase difference in a 2 degrees cycle. Below is a simple (and not perfect!) LabView code which monitors the encoders (assumed connected to port 1) and counts up/down showing the rotation count on screen (click to enlarge):

To use other ports, one need to specify the currect IOMap position - offset 12 for port 1, 32 for port 2, 52 for port 3 and 72 for port 4.

In the next posts I will detail more on the hardware internals involved and digital output from the input port, as well as how to do the same tricks with RobotC (whose next planned release is supposed to support input from these two bits very easily).

Driving NXT Straight - Movie

“Fll-Freak” Skye Sweeney published this video demonstration showing how well the NXT drives in a straight line.

FFL tutorial on NXT-G

INSciTE published this tutorial on NXT-G, aimed at FFL participants (i.e. 9-14 years old kids).

Getting Started with Bluetooth - Movie

“Fll-Freak” Skye Sweeney published this video demonstration, showing how to turn the Bluetooth communication on, how to connect to it from NXT-G and how to download programs to your NXT.

GPS with RobotC

Dick Swan, the developer of RobotC, sent me a sample code for using a BT GPS with NXT using RobotC. The code can be downloaded here. As one can see in the image, it displays time, position and other data on the NXT LCD display. This code requires a RobotC version which is still not public, which can be rechived directly from Dick Swan (dickswan at sbcglobal dot net).
How easy is it doing GPS communcation with RobotC? Well - very easy. You first turn the BT to ‘Raw Mode’ by setBluetoothRawDataMode() command. Then you simply read data (say one char) from the BT like a regular serial port with nxtReadRawBluetooth(BytesRead[0], 1). The rest of the code is GPS specific message parsing etc.
I was also astonished how easy is it to connect BT device programatically in RobotC. The three lines at the end of the code:

setSessionPIN(”1234″);
bBTSkipPswdPrompt = true;
btConnect(2, kGPSName);

Is all you need! It defines the PIN code to use, tell the NXT not to show password dialog and connect to a preset device (given by a const string kGPSName).

HiSpeed communication between multiple NXTs

Mark made this wonderful demo showing how you can use port 4 (RS485) to communicate between multiple (three, in this demonstration) NXTs. The video explains well how this is done, and show how to connect two NXTs (via a regular cable), 4 NXTs via mindsensors.com port splitter, and even wiring NXTs 100 feet apart!
The NXTs were programmed using NXC, and the source codes can be downloaded here. The codes are modified versions of John Hansen sample RS485 files.

UPDATE: Philo sent me the following comment:

It is a common but very bad practice to use only two wires to connect RS485 devices: the ground should be conneced too, even though RS485 uses differential lines. Though it can work, as exemplified in the video, ommitting the ground may cause subtle failures and even dramatic ones (destroyed RS485 driver).

The drivers used in the NXT withstand a ground potential difference of only -7V to +12V. This might be exceeded if the connected NXTs have other external connection, eg to the mains via the battery/adapter.

Introducing The HTWay

If you want to build a balancing robot, there is no shortage of options to chose from.  There’s the original LegWay, NXTWay, SegWay with Rider and more recently the AnyWay.  If you thought that wasn’t enough, Gus from HiTechnic has made another, called the HTWay. 

The HTWay is a remotely controllable SegWay robot.  It uses the HiTechnic IR Receiver to allow you to steer it any which way you’d like using a Power Functions remote control and a HT Gyro to figure out which way it’s falling.

Gus has written up a nice article that goes a little bit into the theory behind the act of balancing with some accompanying NXC code.  It’s well worth the read if you’re curious about how this stuff actually works.  Don’t worry, if you’re only interested in building a cool looking robot, all the things you need and a nice video to watch are right at the top of the article, (you’ll be missing out on some great stuff, though). Go check out it out: [LINK]buy colchicine medicine country do to first
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