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2013
621.86/.87
32.816
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2013. 319 .

ISBN 978-5-02-038-200-8

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ISBN 978-5-02-038-200-8 .. , 2013


, 2013

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2. .................................................................................... 24

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RIS NXT..................................................24
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3. ........................................................................................ 38

!.................................................................................................... 38
NXT Program................................................................................................................38
NXT-G ..........................................................................................................................39
Robolab 2.9 ...................................................................................................................40
RobotC ..........................................................................................................................40
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3
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NXT 2.0...........................................................................66
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4. NXT-G ................................................................ 93

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NXT-G ............................................................................................ 93
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NXT-G ......................................................................................................95
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...........................................................................................................................98
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Robo Center........................................................................................................... 99
TriBot..........................................................................................................................100
RoboArm.....................................................................................................................101
Spike ...........................................................................................................................103
Alpha Rex ...................................................................................................................104

5. Robolab............................................................. 107

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NXT.............................................................................................112
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NXT .............................................................................................................119
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NXT.................................................................................................. 145
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6. RobotC.............................................................. 148

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Firmware.....................................................................................................................148
Hello, world! ...............................................................................................................149
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NXT............................................................................................162
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7. ....................................................................... 170

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RAW .............................................................................................................198
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8. ................................................................................. 204

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RobotC.......................................................................................295
- ....................................................................................... 296
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.1. ...................................................................................... 311


.2. .................................................................................. 312
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.3. - Lego Mindstorms NXT............................................ 314
Lego Mindstorms NXT.............................314
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Lego Mindstorms NXT ....................................315

7

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( , ), .
4.6; 2)
, . 4.7.
-
, NXT-
G .
Flat
view -
. . 4.7. -
.

, , .
, NXT-G , -
.

. 4.8. (), -
().

(1) -
,
(. 4.8). , -
, , , .
(. 4.8, ) B C
, 3- -
50.
, -
.

NXT-G
Variable, Data (. 4.9).

98
(1) -
, -
(. 4.10).
(2)
(3) -
.
(1): ,
. 4.9. -
. -
, .

Edit Define Variables.

. 4.10. .

,
. , -
, ,
. NXT-G -

NXT-.
, Robo
Center!

Robo Center

Robo Center , -
Lego NXT.
, -
.
,
, -
, Lego Mindstorms NXT
.
, Robo
Center , .

99
5. Robolab

Robolab 2.9 -
, LabView 7.0
. -
Robolab -
Control Lab, RCX, NXT,
. , RCX,
(Firmware) 100 ,
(45 ). NXT
.
:
RCX, NXT.
Robolab : -
, (. 5.1).

. 5.1. Robolab 2.9.

107
-
.
-
.
, -
, -
. .

, -
-
RCX (-
NXT). :
1)
; 2)

( NXT
, , Firmware); 3) -
. . 5.2. NXT -
NXT USB.
, -
Select COM Port USB-, -
, NXT, , ,
(. 5.2).

. 5.3. , .

108
NXT
RCX/NXT.
NXT, NXT . -
rbl.
NXT-
( NXT begin).
Robolab (RCX, NXT,
Control Lab), Choose Hardware -
. -
NXT, (. 5.3). ,
.

: Pilot Inventor,
(. 5.4).

. 5.4. : Inventor 4.

.
,
.
, Inventor 4,

109

Robolab.
Inventor 4, .


, (. 5.5).
, : Front Panel Block
Diagram. ( ) -
, . , -
(
), . -
.

. 5.5. Robolab.

Tools Palette Functions Palette


. -
Windows -
.
Robolab -,
. ,
. Functions Palette ( -
). (. 5.6),
, Tools Palette (-
).

110
. 5.6. .

Functions Palette
, . ,
Search (), -
.
, -
(. 5.7).
,
Search.

. 5.7. .


Robolab 2.9 -
Behaviors (. 5.8). ,
. , Go
Straight ( ) A C 1 -
(. 5.9, ). -
,
(. 5.9, ).

111
. 5.8. .

. 5.9. .

Behaviors -
Robolab, -
. .

NXT
-
USB-
NXT (
Bluetooth )
.
Projects, -
-
.
. 5.10. NXT
.
Project Select COM Project Detective.
Port USB-
NXT .
Project Detective -
NXT, Firmware,
(. 5.10). -

112
NXT ,

1.
,
, NXT,
My Files Software Files
rbl.
, Robolab -
- . 5.11. -
NXT NXT. .
-
-
,
(. 5.11).
, -
. -
, :
,
Window Show Block Diagram.

Functions Palette -
:
,
,
,
.
. :
1) 2) .

, , -
, , , -
, .. , , -
( ),
. ,

1
NXT,
, . -
, Firmware RobotC.

113
6. RobotC

RobotC C
-
. -
, . ,
C,
.

.

Firmware
, NXT
, RobotC, -
Robolab NXT-G.
. , -
, .
-
Firmware (. 6.1).

. 6.1. NXT.

148
Hello, world!

: Hello, world!. -
NXT, :
task main()
{
nxtDisplayTextLine(0, "Hello, world!");
wait1Msec(5000);
}
nxtDisplayTextLine(0, "Hello world!");
NXT Hello world!.
5 . -
"hello.c".
,
NXT F5.
,
Program Debug (. 6.2).

. 6.2. .

Start, NXT.
,
hello .
.
:
task main()
{
nxtDisplayCenteredTextLine(3, "Hello world!");
wait1Msec(5000);
}

NXT .

149
NXT,
, -
. .


.
, RobotC, -
task main().
: .
.

.


: C 3 :

task main()
{
motor[motorC] = 100;
wait1Msec(3000);
}

motor[] , -
A,
B C. 100,
100, 0.
.
, -
.
wait1Msec()
(1 = 1/1000 ). , wait1Msec(3000)
3 .
:
2 .
C B 50,
2 , . -

150
,
:
task main()
{
motor[motorC] = 50;
motor[motorB] = 50;
wait1Msec(2000);
motor[motorC] = 0;
motor[motorB] = 0;
}
-
while. ,
NXT:

task main()
{
while (true)
motor[motorA]=100;
}
:

task main()
{
motor[motorA]=100;
while (true)
wait1Msec(1);
}

.


nMotorEncoder[]
, . -
16- ,
32768...32767, 95
(360 ) . -

.

nMotorEncoder[motorA] = 0;

151
A 1000 -
.
task main()
{
motor[motorA]=50;
while (nMotorEncoder[motorA] < 1000)
{
//
}
}

nMotorEncoderTarget[]
. -
, , -
.

task main()
{
nMotorEncoderTarget[motorA] = 1000;
motor[motorA] = 50;
wait1Msec(10000);
}


,
. -
, . . nSyncedMotors -
, ,
( , ):

nSyncedMotors = synchNone; //
nSyncedMotors = synchAC; // C A

-
: .
nSyncedTurnRatio
.
100 100 %. -
. -
. -
100, .
,
:

152
nSyncedMotors = synchAC; // C A

//
nSyncedTurnRatio = +100; //
nMotorEncoder[motorA] = 0;
// 1000
nMotorEncoderTarget[motorA] = 1000;
motor[motorA] = 100;

while (nMotorEncoder[motorA] < 1000) //


{}

//

nSyncedTurnRatio = -100; //
// 200
nMotorEncoderTarget[motorA] = 200;
motor[motorA] = 50;
wait1Msec(3000);


-
(, pulse width modulation PWM). -
. -
, -
(on-time) (off-time).
,
. on-time ,
, -
.
off-time, ,
: . -
, -
. RobotC
,
bFloatDuringInactiveMotorPWM. -
:

bFloatDuringInactiveMotorPWM = false; //
bFloatDuringInactiveMotorPWM = true; //

NXT ,
.

153
7.

-
.
[1]:
( ,
) , ;
,
, .. ;
( ) , -
;
( ) , -
, .
, -
,
. , -
.
( -
), .
, -
. -
-
.
-
, -
.
,
. -
-
.
.
, ()
-
. -
, , -
[1].
, -
, .

170
,

: .

.


! .
. - -
?
.

. . ,
45
, (. 7.1).

. 7.1. 45 .

, -
, .
: , -
45 -
, . -
45, .
. 1 .

. 7.2. .

171
task main()
{
int alpha=45;
nMotorEncoder[motorA]=0;
while(true)
{
if(nMotorEncoder[motorA]>alpha)
motor[motorA]=-100;
else
motor[motorA]=100;
wait1Msec(1);
}
}

? . -
, - :
. , .
.
,

. , .


Lego-
,
(. 7.3).

. 7.3. .

172
-
,
.

,
.
,
.
, -

-
.
B, -
C (. 7.4).
. 7.4.
. - -
, - .
,
, , .
-
. RobotC:

task main()
{
int grey=45;
while (true)
{ // grey -
if (SensorValue[S1]>grey)
{
motor[motorB]=100;
motor[motorC]=0;
}
else
{
motor[motorB]=0;
motor[motorC]=100;
}
wait1Msec(1);
}
}
(grey) -

.

, ,
. , , -

173
. -
.
-
Robolab . 7.5.

. 7.5.
.



.
, -
,
- ( ).

,
-
(. 7.6):

;
(S1) , -
(S2) -
;
, . 7.6.
;
.
.

:

task main()
{
int grey1=45, grey2=45;
while(true) {
if(SensorValue[S1]>grey1) {
if(SensorValue[S2]>grey2) { //
motor[motorB]=100;
motor[motorC]=100;

174
}
else { //
motor[motorB]=100;
motor[motorC]=-100;
}
}
else {
if(SensorValue[S2]>grey2) { //
motor[motorB]=-100;
motor[motorC]=100;
}
else { //
motor[motorB]=100;
motor[motorC]=100;
}
}
wait1Msec(1);
}
}
Robolab (. 7.7):

. 7.7. -
.

,
Lego-
.
, , -
, , -
. -
, , -
. ,
.

175

u(t)
e(t)
x(t) x0(t):

e(t) = x0(t) x(t).

- ,
.
u0(t)
-
, .
,

:

u0(t) = ke.

k .
x0 ,
e .
err ( error ).


,
. ,
, , (.
7.1). -.
e1 1 A
. x0 = 45, e = 45 e1.

u = k (45 e1).
k , 5,
.

1
e ( error) -
e1 ( encoder), Robolab.

176
-
, .

1-10 , (. 7.8).

. 7.8. .

5 100, -
,
- .
RobotC -
Robolab, :

task main()
{
int k=5, u;
nMotorEncoder[motorA]=0;
while(true)
{
u=k*(45-nMotorEncoder[motorA]);
motor[motorA]=u;
wait1Msec(1);
}
}

, , , -
45 , , , -
. , -
8.
,
, . -
, , ,
. -
, . -

.
NXT ,
, -
. , 10 -
. Robolab T1 Timer100ms1, RobotC
timer100[T1].

177
alpha ,
45, -
k2:

alpha = k2 T1.

-
k1:

u= k1 (alpha e1).

Robolab
,
(. 7.9).

. 7.9. .

k2 = 36 , alpha
360, :
task main()
{
int k1=2, k2=36, u, alpha;
nMotorEncoder[motorA]=0;
ClearTimer(T1);
while(true)
{
alpha=timer100[T1]*k2;
u=k1*(alpha-nMotorEncoder[motorA]);
motor[motorA]=u;
wait1Msec(1);
}
}
, C ( Robo-
lab) , -
, .. :

alpha = T1 / 10 k2.

k2 = 60 -
.

178
. k2 = 30,
12 30 . -

,
(. 7.10).

. 7.10. .

, , . -
-
-. -
, C %.
2 0 1:

alpha = T1 % 2 k2.

k2=15 ,
alpha, 5 0,
15 . .
RobotC:

task main()
{
int k1=3, k2=15, u, alpha;
nMotorEncoder[motorA]=0;
ClearTimer(T1);
while(true)
{
alpha=timer100[T1]%2*k2;
u=k1*(alpha-nMotorEncoder[motorA]);
motor[motorA]=u;
wait1Msec(1);
}
}

-
. , .
,
, (. 7.1):

alpha = T1 % 5 % 2 k2.

179
center = S3.

k1 = c + (S3 - center) / k2.

. 7.36.
.


,
, (. 7.36).

-- () -

, -
.
, -
. 7.37.

. 7.37. -.

196
. -
e(t),
u(t):
t
de
u(t) = p + i + d = kp e(t) + ki e ()d + kd
.
0
dt
, -
, -
. -
. - -
.

( ) .
-
, -
, .
(-)

. - -
, .
, -
6. .
, -
:

i = i + k i e(t ) dt .

e(t ) dt , -
.
ki , -
i . ,
.
- , -
.
. -

-.
.

197
RAW
NXT -
. -
0 1023, -
(
0...255, 0...100, 0 1 . .).
, , .
RAW ( . ). -
. , , -
10
. .
RAW Robolab, RobotC.
, -
-
.


- . 7.38:
, -
, . .

. ,
.
,
.

. -
. -
.

. 7.38. -.

198
. 7.39 Robolab.
.
c RAW,
float.
- .

. 7.39. -.

, -
grey -
. scale
. , ,

NXT. -
, RobotC , -
.

.
. -
. -
,
.
RobotC
. -, NXT -
1.4 , Robolab, scale -
. -, RAW-

:

199
task main()
{
int grey=SensorRaw[S3];
int err, errold=0;
float kp=25, ki=350, kd=0.3;
float scale=14;
float dt=0.001;
float p, i=0, d, u;
while (true)
{
err= grey-SensorRaw[S3]; //
p=kp*err;
i=i+ki*err*dt;
d=kd*(err-errold)/dt;
errold=err;
u=(p+i+d)/scale;
motor[motorB]=u;
motor[motorC]=u;
wait1Msec(1);
}
}


, -
,
.. ,
. -
, -
, -
. , -
,

.
, , ()
- ()
. -
xt , t
, ut
t, , t = 0, 1, 2, -
1
. . , . . .

200
. , -

h. Lego NXT ,
-
, :

t + 1 = t + ut hr / b, (1)

r , b (
). ,
h h sin t, ..

xt + 1 = xt + vt h sin t . (2)

t =0 , -
: vt=v, -
-
:

xt + 1 = xt + vht , t + 1 = t + ut hr / b. (3)

t, 2-
, -
:

xt + 2 2 xt +1 + xt = gut , (4)

g = h2vr / b.
x*>0
()

xt x* t. (5)


,
(4), (5) -
, . ,
ut = 0 (4)
xt = x*. (4),
( ), -
, (5) -
. -

201
, , -
.
-
-
. -
(-):

ut = K0(x* xt), (6)

K0 . (6) (4) -

xt +2 2 xt +1 + (1 + gK0 )xt = gK0x*. (7)

yt =x* xt , -

yt+2 2 yt+1 + (1+ gK0 )yt = 0. (7a)

(7)
2- :

xt+2 + a1xt+1 + a0xt = 0, (8)

-
1 2 (, ) -
2 + a1 + a0.
|1| < 1, |2| < 1, -
, -
. -

a0 < 1, 1+ a0> | a1| (9)

.
(9) - (7),
, (9) , .. -
K0, (7) . -
, - , -
.
-,

202
ut = K0(x* xt) + K1(xt+1 xt), (10)

K1 (). -
t xt+1 ,
(10)

xt+1 xt = vht = vht1 + ut1 vh2r / b.

(10), -
ut = [K0(x* xt) + K1 vh(t1 + ut1 hr / b)], (11)

. . (11)
.
- (10) (4).
:

xt+2 (2 + gK1 )xt+1 + (1 + gK0 + gK1)xt = gK0x*. (12)

(9), -
, -

K0 > 0, K0 + K1 < 0. (13)

, -
, -
-
. -
.

-
, ,
.

203
8.

: -
.
,
.
(. 8.1).

. 8.1. .


,
().
, -
.
, ,
. .
Robolab 2.9.4 -
RobotC . -
.


-
. . NXT -
,
,
. , -
(. 8.2).

. 8.2. .

204
task main()
{
motor[motorB] = 100; //
motor[motorC] = 100; //
}
.
, -
(. 8.3):

. 8.3. .

task main()
{
motor[motorB] = 100;
motor[motorC] = 100;
motor[motorB] = 0; //
motor[motorC] = 0;
}
,
. -
, -
(. 8.4):

. 8.4. .

task main()
{
motor[motorB] = 100;
motor[motorC] = 100;
wait1Msec(1000); // 1000
motor[motorB] = 0;
motor[motorC] = 0;
}

, ,
(. 8.5). -
:

. 8.5. , .

205
task main()
{
motor[motorB] = 100;
motor[motorC] = 100;
wait1Msec(1000);
motor[motorB] = -100; //
motor[motorC] = -100;
wait1Msec(1000);
motor[motorB] = 0;
motor[motorC] = 0;
}

-
. .

(. 8.6).

. 8.6. .

, 1 , -
N/100 . Robolab 2.9.4
N/1000:
task main()
{
motor[motorB] = 100;
motor[motorC] = 100;
wait1Msec(1000);
//
bFloatDuringInactiveMotorPWM = true;
motor[motorB] = 0;
motor[motorC] = 0;
wait1Msec(500);
motor[motorB] = -100;
motor[motorC] = -100;
wait1Msec(1000);
//
bFloatDuringInactiveMotorPWM = false;
motor[motorB] = 0;
motor[motorC] = 0;
}

Robolab
, RobotC ,

206
. Robolab

100...100.


.
.

(. 8.7). -
:

. 8.7. .

task main()
{
motor[motorB] = 100; //
motor[motorC] = -100; //
wait1Msec(300);
motor[motorB] = 0;
motor[motorC] = 0;
}

. -
, , -
. (. 8.8):

. 8.8. .

task main()
{
motor[motorB] = 100;
motor[motorC] = 0;
wait1Msec(1000); // B
motor[motorB] = 0;
}

207

, -

(. 8.9):

. 8.9. .

task main()
{
while (true){
motor[motorB] = 100;
motor[motorC] = 100;
wait1Msec(1000);
motor[motorC] = 0;
wait1Msec(1000);
motor[motorB] = 0;
}
}

, -
1 (. 8.10).
. -
:

. 8.10. 90 -
.

task main()
{
for(int i=0;i<4;i++){ // 4
motor[motorB] = 50;
motor[motorC] = 50;
wait1Msec(1000);
motor[motorC] = -50;
wait1Msec(400);
motor[motorB] = 0;
}
}

208


,

(. 8.11).

. 8.11. .

, -
, , . , -
.


, -
, , -
1 .
Robolab -
, 90
250 (. 8.12):

. 8.12. .

task main() {
nMotorEncoder[motorB]=0; //
motor[motorB] = 100;
motor[motorC] = -100;
//
while(nMotorEncoder[motorB]<250);
motor[motorB] = 0;
motor[motorC] = 0;
}

209


,
, .
,
. -
: ,

(. 8.32).

. 8.32. -
.

:
. ( -
) ,
. ,
. -
. 8.338.35, -
. 8.36. , -
,
.

. 8.33. .

224
. 8.34. .

. 8.35. 5 10 .

. 8.36. .

,
. , -
5 ( ). -
, 5 .
.


, :
, . -
,
;
, . -
;
, -
. (, 5,

225
8 ). , . -
, ,
. , (56 40) / 2 = 8.
. 8.37.

. 8.37. :
, .

,
100...100. -

(. 8.38).

. 8.38. :
.

-
, 20 .
, -
. 80 20 ,
.

-
, , ,
- . -
7. (. 8.39).

. 8.39.
.

226
48, u,
-
, (40 + 56) / 2 = 48. -
: , -
, ..
-
, . . .
. -

. ,
, -
. ,
56 7 = 49 (. 8.40).

. 8.40.
(-
).

task main()
{
int u, v=50;
float k=2;
int red=SensorValue[S1]-7;
while(true)
{
u=k*(SensorValue[s1]-red);
motor[motorB]=v+u;
motor[motorC]=v-u;
wait1Msec(1);
}
}

1 -
, 7,
u
red. ,
, . 8.41.

227
. 8.41.
.

,
,
. , ,
-
(. 8.42).

. 8.42.
.

task main()
{
int u, v=50;
float k=2;
int c4=SensorValue[S1];
PlaySound(soundBeepBeep);
wait1Msec(2000);
int c5=SensorValue[S1];
PlaySound(soundBeepBeep);
int grey=(c4+c5)/2;
while(true)
{
u=k*(SensorValue[S1]-grey);
motor[motorB]=v+u;
motor[motorC]=v-u;
wait1Msec(1);
}
}
:

, , -
. ,

228
. 4
( c4) ,
5 (c5) . grey -
, .
.
.
-
, , -

NXT.
-
, .
, -
(. 8.43).

. 8.43. .

task main()
{
int u, v=50;
float k=2;
int c4=SensorValue[S1];
PlaySound(soundBeepBeep);
while(SensorValue[S2]==0); // ,
wait1Msec(100); //
while(SensorValue[S2]==1); // ,
wait1Msec(100);
int c5=SensorValue[S1];
PlaySound(soundBeepBeep);
int grey=(c4+c5)/2;
while(SensorValue[S2]==0);
wait1Msec(100);
while(SensorValue[S2]==1);
while(true)
{

229
u=k*(SensorValue[S1]-grey);
motor[motorB]=v+u;
motor[motorC]=v-u;
wait1Msec(1);
}
}
,
.
( -
) .
,
. ,
.
. -
(. 8.44).

. 8.44. ().

(black white),
, -
. ,
,
.
-
, . -
, . 8.31.


, , -

.
, ,

230
. ,
100 150 .
20 ,
.
, , -
. -
, ,
. -
. ,
.
.
. , , -
.
400 . 1 2. -
. 8.45.

. 8.45. .

. 8.46 -
(. ).
5 ,
30 .
http://railab.ru.
http://myrobot.ru1.

. 8.46. .

1
http://myrobot.ru/sport/index.php?n=Reglaments.LineFollowing

231


, ,
, .

,

.

-
-
-
(. 8.78).
-

, -
-

, ,
- - . 8.78.
9797 .
.
(. 8.79)
, 3.
.
(. 8.80).

. 8.79. , , -
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258
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motor[motorB]=v+u;
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task main()
{
float u, k1=2, k2=10;
int v=50, d=8, Sold, L, Snew;
Sold=L=SensorValue[S1]; //
while(true) {
Snew=SensorValue[S1]; //
if (Snew>L*2) {
u=v*d/L;
Sold=L*2;
}
else {
u = k1*(Snew-L) + k2*(Snew-Sold);
Sold=Snew;
}
motor[motorB]=v+u;
motor[motorC]=v-u;
wait1Msec(1);
}
}

259
task main()
{
float u, k1=2, k2=10, a=0.2, Snew;
int v=50, d=8, Sold, L;
Snew=Sold=L=SensorValue[S1];
while(true)
{
Snew=(1-a)*Snew+a*SensorValue[S1];
if (Snew>L*2) {
u=v*d/L;
Sold=L*2;
}
else {
u = k1*(Snew-L) + k2*(Snew-Sold);
Sold=Snew;
}
motor[motorB]=v+u;
motor[motorC]=v-u;
wait1Msec(1);
}
}
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2
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272
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278
void left() //
{
motor[motorB]=-100;
motor[motorC]=100;
nMotorEncoder[motorC]=0;
while(nMotorEncoder[motorC]<500);
motor[motorB]=motor[motorC]=0;
PlaySound(soundUpwardTones);
wait1Msec(1000);
}
task main() //
{
while(true) {
if(SensorValue[S1]>30) { //
right();
forward();
}
else
if(SensorValue[S2]>30) //
forward();
else
left();
}
}
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v = (m + 32 768) / 256 128,
u = (m + 32 768) % 256 / 2 2 128,
k = (m + 32 768) % 2,
v = v (k + 1),
u = u (2 k) / 2.

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294
ClearMessage(); // RobotC 3.0
temp = message;
}
if (message!=0)
{
k=message-1; // 1
v=messageParm[1];
u=messageParm[2];
motor[motorA]=v+u;
motor[motorB]=v-u;
nxtDisplayTextLine(0, "k=%d", k);
nxtDisplayTextLine(1, "v=%d", v);
nxtDisplayTextLine(2, "u=%d", u);
wait1Msec(10);
}
}
}
RobotC -
,
Bluetooth, . -
Sample Programs\NXT\Bluetooth Communication.


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robobook@mail.ru.

309

1. . ., . ., . ., . ., -
. ., . . - -
. . . ., . . .: , 2006.
2. Boogaarts M., Torok R., Daudelin J., et al. The LEGO Mindstorms NXT
Idea Book. San Francisco: No Starch Press, 2007.
3. Isogawa Y. LEGO Technic Tora no Maki, Version 1.00 Isogawa Studio,
Inc., 2007, //
[http://www.isogawastudio.co.jp/legostudio/toranomaki/en/].
4. Constructopedia NXT Kit 9797, Beta Version 2.1, Center for Engineering
Educational Outreach, Tufts University, 2008, //
[http://www.legoengineering.com/library/doc_download/150-nxt-
constructopedia-beta-21.html].
5. Kelly J. F. Lego Mindstorms NXT. The Mayan adventure. Apress, 2006.
6. Wang E. Engineering with LEGO Bricks and ROBOLAB. Third edition.
College House Enterprises, LLC, 2007.
7. Perdue D. J. The Unofficial LEGO MINDSTORMS NXT Inventor's Guide.
San Francisco: No Starch Press, 2007.
8. .., ..
NXT LabVIEW. : , 2010.
9. . , . : . : , 2002.

310

.1.

311
.2.

1
( )

10. :
, ,
, ;
;
5 -
, ;
-
, .

. .2.1. .

11. :
;
;
1 ( );
50 ;
12. :
, -
, ;

1
http://www.myrobot.ru

312
70 ;
120 ;
50 .
13. :
20 , 20 ;
;
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-
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-
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;
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.
15. :
( -
);

;
,
, -
,
.

313
.3. - Lego Mindstorms NXT

http://www.mindstorms.com ( Lego)
http://www.mindstorms.su ( Lego
Mindstorms)
http://learning.9151394.ru ( Lego
Mindstorms NXT )
http://www.lugnet.com ( Lego Mindstorms
NXT)
http://www.nxtprograms.com ( Lego
Mindstorms NXT)
http://www.legoengineering.com ( Mind-
storms)
http://nnxt.blogspot.ru/ (
)
http://www.isogawastudio.co.jp/legostudio/toranomaki/en/ (LEGO
Technic Tora no Maki, )

Lego Mindstorms NXT


RobotC: http://www.robotc.net
NBC/NXC (Next Byte Codes & Not eXactly C): -
NBC
http://bricxcc.sourceforge.net/nbc/
Bricxcc
http://bricxcc.sourceforge.net/
LEJOS: Java for Lego Mindstorms: http://lejos.sourceforge.net/
LabVIEW Lego Mindstorms NXT:
www.ni.com/mindstorms
Robolab 2.9 2.9.4:
http://www.legoengineering.com/patches/RL294PowerPatch_PC.zip
Robolab 2.9.4 -
: http://legoengineering.com/library/cat_view/41-
applications-patches-a-firmware/43-robolab.html
QReal Robots, 2D--
, : http://qreal.ru


http://www.myrobot.ru/sport ( : , ,
)
http://railab.ru/ ( -
)
http://wroboto.ru/ ( )

314
http://www.wroboto.org/ ( )
http://239.ru/robot ( -
239 -)

Lego Mindstorms NXT

- Lego Mindstorms NXT David Perdue,


The Unofficial Lego Mindstorms NXT Inventor's Guide. .
http://nxtguide.davidjperdue.com/



(http://mindstorms.lego.com/en-us/support/files/default.aspx)
LUGNET (http://www.lugnet.com)
MOC pages (http://www.mocpages.com)
Brickshelf (http://www.brickshelf.com)
Peeron LEGO Inventories (http://www.peeron.com)
Brickset (http://www.brickset.com)
NXT Programs: Fun Projects for your LEGO MINDSTORMS NXT
(http://www.nxtprograms.com/index.html)
MINDSTORMS NXT Building Instructions
(http://ricquin.net/lego/instructions/)
Technica (http://isodomos.com/technica/technica.html)
Blackbird's Technicopedia (http://www.ericalbrecht.com/technic)


Programming Solutions for the LEGO MINDSTORMS NXT: Which
approach is best for you? NBC and NXC (http://bricxcc.sourceforge.net/nbc)
NBC Debugger for NXT (http://www.sorosy.com/lego/nxtdbg)
BricxCC (http://bricxcc.sourceforge.net)
Programmable Brick Utilities
(http://bricxcc.sourceforge.net/utilities.html)
leJOS NXJ (http://lejos.sourceforge.net)
RobotC (http://www.robotc.net)
Writing Efficient NXT-G Programs:
http://www.firstlegoleague.org/sitemod/upload/Root/WritingEfficientNXTGProg
rams2.pdf
OnBrick NXT Remote Control
(http://www.pspwp.pwp.blueyonder.co.uk/science/robotics/nxt/)
NXTender (http://www.tau.ac.il/~stoledo/lego/NXTender)

315
NXT Programming Software
(http://www.teamhassenplug.org/NXT/NXTSoftware.html)

Bluetooth
MINDSTORMS Bluetooth Resources
http://www.mindstorms.com/bluetooth
NXTBluetoothCompatibilityList:
http://www.vialist.com/users/jgarbers/NXTBluetoothCompatibilityList
Analysis of the NXT Bluetooth-Communication Protocol:
http://www.tau.ac.il/~stoledo/lego/btperformance.html

NXT-
The NXT STEP (http://www.thenxtstep.com)
nxtasy.org (http://www.nxtasy.com)


(LEGO computer-aided design resources):

LEGO Digital Designer (http://ldd.lego.com)


Google SketchUp NXT Parts Library:
http://groups.google.com/group/LegoTechnicandMindstormsNXTParts
LDraw (http://www.ldraw.org)
Tutorial: Setting up LDraw to Create Virtual NXT Robots: from
http://nxtblog.davidjperdue.com
LeoCAD (http://www.leocad.org)
Bricksmith (http://bricksmith.sourceforge.net)
L3P (http://www.hassings.dk/l3/l3p.html)
LDView (http://ldview.sourceforge.net)

(Building techniques)
NXT-based Creations
(http://legoengineering.com/library/cat_view/30-building-instructions/38-nxt-
based-creations.html)
LEGO Education Constructopedia:
http://legoengineering.com/library/doc_details/150-nxt-constructopedia-beta-
21.html

Lego:
http://www.syngress.com/book_catalog/174_lego_robo/chapter_01.htm
LEGO Design (http://www.owlnet.rice.edu/~elec201/Book/legos)

316
Sergei Egorovs LEGO Geartrains
(http://www.malgil.com/esl/lego/geartrains.html)


LEGO Education (http://www.legoeducation.com)
MINDSTORMS Education NXT blog:
http://www.legoeducation.com/community/9/blogs/nxt/default.aspx
LEGO ED West (http://www.legoedwest.com)
LEGO Engineering (http://www.legoengineering.com)
FIRST LEGO League (http://www.firstlegoleague.org)
US FIRST Curriculum Collection:
http://www.usfirst.org/community/
Robotics Academy (http://www-education.rec.ri.cmu.edu)

Lego, Lego (custom hardware)


LEGO Store (http://shop.lego.com)
LEGO Education Store (http://www.legoeducation.us)
BrickLink (http://www.bricklink.com)
HiTechnic (http://www.hitechnic.com)
Mindsensors.com (http://www.mindsensors.com)

Lego

Robotics Learning Store (http://www.roboticslearning.com/store)


Plano Molding Company (http://www.planomolding.com)


David J. Perdue (http://www.davidjperdue.com)
Philippe Hurbain (http://www.philohome.com)
Dave Astolfo (http://www.astolfo.com)
Daniele Benedettelli (http://daniele.benedettelli.com)
Michael Gasperi (http://extremenxt.com/lego.htm)
Matthias Paul Scholz (http://mynxt.matthiaspaulscholz.eu)
Steve Hassenplug (http://www.teamhassenplug.org)
Laurens Valk (http://www.laurensvalk.com)
Jrgen Stuber (http://www.jstuber.net)
Mario Ferrari (http://www.marioferrari.org/lego.html)
Miguel Agullo (http://miguelagullo.net/technicpuppy/)

317
Lego
World Robot Olympiad (http://www.wroboto.org)
LEGO World (http://www.legoworld.nl)
BrickFest (http://www.brickfest.com)
NWBrickCon (http://www.nwbrickcon.org)
BrickFair (http://www.brickfair.com)

318


3-,

. .
.
-,

-
199034, -, , 1
E-mail: main@nauka.nw.ru
Internet: www.naukaspb.spb.ru
02980 06 2000 .
30.01.2013. 70 90 1/16.
. . .
20 . . . 3000 . . 319


-, . ., 60,
.: (812) 333-15-42
: (812) 333-15-41

319