The winners for the Moonbots Contest have been announced!

1. Landroids
2. The Shadowed Craters
3. Moonwalk

Congratulations to all teams who took part.  All teams got a special recognition award for their efforts, some of which are very funny!  Anyway, be sure to check out the teams’ web sites for more information on what they did and how they did it.

It looks like using them is not a whole lot different from using them without the SMUX.  Hurray for transparency. 

Anyway, hurry on down to the HiTechnic website and start downloading the new blocks right here: [LINK] or here [LINK].

Some of the highlights:

• Article about what the Mindstorms Community Partner programme (MCP) is all about;
• Interviews with some of the people in the MCP programme;
• A great tutorial on PID and how to apply that to line following;
• Actuators for the NXT (motors, things that move).

Other highlights include:

• Another installment in the LDraw tutorial;
• How to build trees (these look awesome);
• A great article about the classic Super Car 8860;
• And much, much more!

Go download your copy today here: [LINK].

The Ukrainian company Holit Data Systems, makers of the 3 port NXT motor MUX, asked me to let people know that they’ve changed their domain name at the request of TLG. You can now reach their website at edu.holit.ua.

They’re busy working getting PayPal payments sorted out.  It should all be up and running by next month (August 2010).  You’ll be able to get your hands on one of these without any trouble, no matter where in the world you are.  I will keep you posted of any updates. Until PayPal is fully implemented, you can use the LiqPay system which is available to registered users at edu.holit.ua.

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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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.

In the remaing article I’ll focus on text-based languages and use NXC for the examples.

Handling debug statements. Most of the time you have to manually insert debug statements into your program code. Unfortunately, those statements don’t do anything “useful” apart from helping you to debug, so those commands are often considered annoying. It’s common practice to start with inserting simple TextOut commands where needed, and commenting them out later on once everything works. The more statements you’ve got, the more annoying it gets to enable them once a new bug occurs, and to disable them again eventually. I suggest wrapping your debug code in between compiler directives, i.e.

#define DEBUG_LCD

#ifdef DEBUG_LCD
TextOut(...);
#endif

This makes frequent debugging very easy: Simply comment out the statement where DEBUG_LCD is defined at the top of your progam, and debug mode is turned off. You can even have multiple define-”switches” for various debug options, like DEBUG_LCD, DEBUG_ACOUSTIC, DEBUG_LIGHTS and so on. It can make sense to wrap these statemens (including the compiler directives) into further macros, to save some lines of code for better readability.

Logging data to files or a computer. Many techniques from data-logging can be used here. In this case, we’re interested in debug messages, not sensor data. The debug messages might be too long or are generated to rapidly for being displayed on the LCD. This is why we can either send them to a PC or write them into a text-file on the NXT’s flash disk. The advantage of sending the data away to a computer: This can happen faster and easier than writing to a file (there are still limits on maximum message throughput though). You can either use the already mentioned NXT debug monitor, or write a similar custom thing on your own. An example of a very simple debug logging server can be found here (in this case written in MATLAB), the according counterpart for NXC is here (it puts a running number and a port number in front of the text message before sending). How to send strings from an NXT to a computer is described in my weather tutorial.
At this occasion I can’t refrain from mentioning the NXCProfiler (in a very early development stage), which could also be of some help.

Monitoring the NXT from a computer. Every program running on a PC interacts with the NXT via direct commands. These can be used to retrieve sensor & motor data, as well as raw data from the firmware’s memory. The cool thing: This also works while user-programs (written in NXT-G, NXC, …) are being executed at the same time, i.e. you can use all programs that run on a computer to help you debug your NXT-program (that runs on the brick). If you have tools that monitor motor position, display sensor values or anything else, feel free to use them if they help you. The possibilities are endless. I agree that this last point might not be of direct use to you, but to focus on three more specific cases:

• BricxCC’s “Watching the brick”: I won’t go into details now, but refer you to John Hansen’s book “LEGO Mindstorms NXT Power Programming: Robotics in C, second edition”. Here’s a post by John. As NXC programmer, you should definitely give the variable watching feature a try.
• Direct NXT memory access: This is very complex and advanced, never the less I should mention it. Nicolas Schodet proposed a way to read out the firmware’s memory and grab variable information from it. This is similar to what BricxCC does internally.
• The NBC debugger: My article can’t be complete without the NBC debugger being mentioned at least. Since I’m not an NBC user I’ve not yet used it, but it might work for NXC programs, too (since the NXC compiler generates intermediate NBC code first). An interesting feature I’d first try is the #pragma debuglog statement, it’s explained here.

As always, feel free to create a thread on the forums if you have questions, ideas or comments.

So long, Linus Atorf

A book that’s been in the making for a while now has finally been released!  Laurens Valk’s latest book, “The LEGO MINDSTORMS NXT 2.0 Discovery Book: A Beginner’s Guide to Building and Programming Robots” is a real treat. 

I had the pleasure of being able to look at it before it was published and the models in it are really fun! Everything in this book can be made with the Mindstorms NXT 2.0 kit without any additional pieces.  The book guides you through learning the NXT-G language from beginner stage right up to some really advanced techniques that will allow you to become a robot programming master.  A website to accompany the book is almost done and more information about it will be posted here when it becomes available.

You can pre-order a copy of it at Amazon.com here: [LINK].