With Lustre

What do you need ?

You need a robot :

You need the Lustre compiler. You can download it from here.

You need the legolus Perl command (available here), which calls Lustre compiler and adds some C code to interface Lustre user code with LegOS. Install it somewhere in your path.
 

What to do ?

• Start by writing your Lustre program, which main node must respect the following interface :  

Use input variable capteur_i in your Lustre program when you plug a touch sensor to input i.
Use input variable lumiere_i in your Lustre program when you plug a light sensor to input i.
Use input variable rotation_i in your Lustre program when you plug a rotation sensor to input i.
Never use these 3 variables at the same time.

Outputs controls 3 motors : A, B and C. For each one :
when Avant is true, and Arriere is false, it goes forward,
when Avant is false, and Arriere is true, it goes backward,
when Avant is true, and Arriere is true, wheel is free,
when Avant is false, and Arriere is false, it brakes

Optional outputs Seuil_1, Seuil_2 and Seuil_3 are used to set light sensor threshhold. When light measure is above this threshhold, its value Lumiere_i is true, otherwise it's false.

Download LegOS on the robot. You only need to do it once until you remove the batteries.

• cd boot
• firmdl3 -s lego.srec 

• Compile your Lustre program (assuming main node is called: mynode, in file : myfile.lus) with the following command :

• legolus myfile mynode 

• For compiling generated C code (including interface), you must use the legOS Makefile :

• make myfile_mynode.lx 

• Now, you can download your program on the robot using dll :

• dll myfile_mynode.lx 

• You can now run your Lustre program on the robot.

To do.

Just do it, and tell me about your experience...

Christophe