NXC (and NBC)
NXC (Not eXactly C) is a language
similar to NQC, which was the most
popular way to program the RCX
Built on NBC, the Next Byte Code
‘assembler’
Uses the built in firmware, and p-code
system
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Guidelines and tips
Prepare for your exams
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NXC Programming - Embedded Intelligent Robotics - Lecture Slides, Slides of Robotics
Course title is Embedded Intelligent Robotics. This course is for Electrical engineering students. Though good thing is everyone can learn about robotics in this course. This lecture includes: Nxc Programming, Firmware, Next Byte Code, Threading Model, Nxc Sample Program, Rotatemotor, Mimicking a Servo Motor, Lcd Display
Typology: Slides
2013/2014
1 / 23
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NXC (and NBC)
NXC ( N ot e X actly C ) is a language similar to NQC, which was the most popular way to program the RCX Built on NBC, the Next Byte Code ‘assembler’ Uses the built in firmware, and p-code system
NXC uses BricxCC
Reasonably stable development environment Provides support for all LEGO robotic platforms Free!
NXC Programs
NXC is based on C Restrictions because it’s based on the built-in P-Code system There’s no stack Limited memory Limited number of tasks (256) And subroutines, which are also ‘tasks’
NXC program skeleton
#include "NXCDefs.h" task main() { }
NXC Sensors
#include "NXCDefs.h" task main() { SetSensor( IN_1, SENSOR_TOUCH ); }
NXC Sensors
To read a sensor use x = Sensor( IN_1 );
NXC Motors
Simple motor commands are available OnFwd(), OnRev(), Off(), Float()
NXC Motors
To use the built-in rotation sensors, you need to use the new motor commands Easiest to use is RotateMotor()
Mimicking a Servo Motor
Read the current motor angle Current = MotorRotationCount( OUT_A ); Calculate how far you need to turn Delta = Target – Current; Turn that amount RotateMotor( OUT_A, speed, Delta );
Displaying Text
The LCD display is useful for Debugging Setting parameters Runtime messages Graphics Games … and more
LCD display
The origin is the bottom left So TextOut( 0,0, “hi” ) will display in the bottom left corner Use the LCD_LINEn macros if you like to make it easier
Text Example
y = 42; TextOut(0, LCD_LINE5, "Answer:" ); NumOut( 8*6, LCD_LINE5, y ); // characters are 6 pixels wide
Tasks and Subroutines
Multiple tasks are possible, but don’t work like you might expect Scheduling is different – tasks start when a ‘dependant’ task finishes There is no easy way of stopping a task Use Precedes() or Follows() in a task to define task dependencies
Tasks
task FooTask() { // will start executing when main() finishes } task main() { // program starts here Precedes ( FooTask ); } task BarTask() { Follows ( main ); // will also start executing when main() finishes } docsity.com