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Wei Lu - Beginning Robotics Programming in Java with LEGO Mindstorms

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Beginning Robotics Programming in Java with LEGO Mindstorms
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Wei Lu
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Apress
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2016
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Discover the difference between making a robot move and making a robot think. Using Mindstorms EV3 and LeJOSan open source project for Java Mindstorms projectsyoull learn how to create Artificial Intelligence (AI) for your bot. Your robot will learn how to problem solve, how to plan, and how to communicate. Along the way, youll learn about classical AI algorithms for teaching hardware how to think; algorithms that you can then apply to your own robotic inspirations. If youve ever wanted to learn about robotic intelligence in a practical, playful way, Beginning Robotics Programming in Java with LEGO Mindstorms is for you. What youll learn: Build your first LEGO EV3 robot step-by-step Install LeJOS and its firmware on Lego EV3 Create and upload your first Java program into Lego EV3 Work with Java programming for motors Understand robotics behavior programming with sensors Review common AI algorithms, such as DFS, BFS, and Dijkstras Algorithm Who this book is for: Students, teachers, and makers with basic Java programming experience who want to learn how to apply Artificial Intelligence to a practical robotic system.

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Wei Lu 2016

Wei Lu Beginning Robotics Programming in Java with LEGO Mindstorms 10.1007/978-1-4842-2005-4_1

1. Introduction to Lego Mindstorms and leJOS

Wei Lu 1

(1)

Keene, New Hampshire, USA

Electronic supplementary material

The online version of this chapter (doi: 10.1007/978-1-4842-2005-4_1 ) contains supplementary material, which is available to authorized users.

This chapter provides step-by-step guidance on how to set up the environment for Java robotics programming with Lego Mindstorms EV3, including a basic overview of Lego Mindstorms EV3 and an introduction to leJOS EV3. The chapter covers how to install the leJOS EV3 development system onto your computer, how to install leJOS EV3 firmware into the Lego EV3 brick, and how to install and apply the leJOS EV3 plug-in for Eclipse IDE. Finally, you will create your first Java robotics program called HelloWorld , upload the HelloWorld program from your computer into the Lego EV3 brick through a USB cable, and execute the program on Lego Mindstorms EV3.

Introduction to Lego Mindstorms

Lego Mindstorms is an educational product from Lego designed to help you build robots easily. The product series has been evolving for decades, and Lego Mindstorms EV3 is the third generation. Figure illustrates a typical Lego Mindstorms EV3 robotics set in which the EV3 brick is the brain of Lego Mindstorms EV3. It is an intelligent, programmable device that lets a Lego robot perform various intelligent operations .

Figure 1-1.

Lego Mindstorms EV3

As illustrated in Figure .

The motor ports included in Lego Mindstorms EV3 have four output ports for attaching motors: Ports A, B, C, and D.

Sensor Ports have four input ports for attaching sensors: Ports 1, 2, 3, and 4.

A mini-USB PC connection port is used to connect a USB cable to your local computer and download programs to the EV3 brick (or to upload data from the robot to your local computer). You can also use the wireless Bluetooth connection for uploading and downloading programs.

The speaker included in Lego Mindstorms EV3 makes programs with real sounds possible, and you can listen to them when you run programs.

You apply a dark gray button at the center of the EV3 brick for powering on, entering commands, or running programs. The brick also has a light gray button on the upper-left side, which is used for reversing actions, aborting a program, and shutting down the EV3. The other four light gray buttons on the EV3 brick are used for moving left, right, up, and down while walking through the EV3 menu.

Typical technical specifications for Lego Mindstorms EV3 are listed below. Additional detail on the Lego EV3 specifications can be found at: http://www.lego.com/en-us/mindstorms/downloads .

A single main processor controls the robot:
- 32-bit ARM9 processor running at 300 MHz
- Ability to access 64 MB of RAM
- Uses 16 MB of flash memory
The operating system is Linux based
Runs on 6 AA batteries or the rechargeable battery pack, which is slightly larger:
- Although 6 AA batteries are theoretically equate to 9 volts, you are more likely to experience about 7-8 Volts, depending on the charge in the batteries
Contains four motor/servo ports:
- Three motors (two large motors and one medium-sized motor) come with each Lego Mindstorms EV3 kit
Contains four sensor ports:
- Comes with a variety of sensors:
  - Touch
  - Color
  - Ultrasonic
  - Gyro
Communication:
- Comes with Bluetooth onboard
- A program can be loaded onto the EV3 brick using Bluetooth at a slow speed or with a USB cable at a much faster speed
- Can be programmed to allow for communications between two (or more) EV3 bricks while the program is executing
- Third-party software can be used to communicate between a PC and an EV3 brick while a program is executing
- Includes a built-in 178 128-pixel LCD graphical display

Introduction to leJOS

leJOS means Lego for Java Operating System, which is an open source language created for developing software for Lego Mindstorms products using Java technology. The leJOS project offers support for Lego Mindstorms EV3, and previous versions including Lego Mindstorms NXT and Lego Mindstorms RCX. The leJOS project delivers the following solutions for Lego Mindstorms:

Lego Mindstorms EV3

JVM for EV3 Brick
leJOS API for EV3 brick
leJOS PC Communications
leJOS Tools

Lego Mindstorms NXT

JVM for NXT Brick
leJOS API for NXT brick
leJOS PC Communications
leJOS JavaME Communications
leJOS Tools

Lego Mindstorms RCX

JVM for RCX Brick
leJOS API for RCX brick
leJOS PC Communications
leJOS Tools

In this book, we are focused on the most recent Lego Mindstorms product: that is, Lego Mindstorms EV3. Typical official packages provided by leJOS for the EV3 brick are illustrated in Table . These packages allow you to manage the EV3 brick, sensors, and actuators, as well as some other pieces of EV3 hardware.

Table 1-1.

EV3 brick packages

Package	Description
lejos.hardware	To support EV3 hardware
lejos.hardware.ev3	To access EV3 hardware
lejos.hardware.lcd	To access EV3 LCD
lejos.hardware.motor	To access EV3 motors
lejos.hardware.port	To access EV3 ports
lejos.hardware.sensor	To access all the sensors that are supported on the EV3
lejos.hardware.video	To access video devices

Table lists packages that offer support for some robotics problems, such as localization and navigation.

Robotics/AI packages

Package	Description
lejos.robotics.localization	Localization support
lejos.robotics.mapping	Support for maps
lejos.robotics.navigation	Navigation classes
lejos.robotics.objectdetection	Object detection classes
ejos.robotics.subsumption	Support for subsumption architecture

All leJOS releases have documentation on the packages in the format of Javadoc. Details on the packages provided in leJOS EV3 can be found at: http://www.lejos.org/ev3/docs/ .

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