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Move back the advice to connect in the Minsdstorm interface
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -26,6 +26,8 @@ | |
| @author Christophe Troestler <[email protected]> | ||
| *) | ||
|
|
||
| (** {2 NXT and EV3 bricks} *) | ||
|
|
||
| (** [Mindstorm.NXT] — Interface to NXT bricks. *) | ||
| #if OCAML_MAJOR >= 4 && OCAML_MINOR >= 2 | ||
| module NXT = Mindstorm__NXT | ||
|
|
@@ -41,4 +43,161 @@ module EV3 = Mindstorm__EV3 | |
| module EV3 : module type of Mindstorm__EV3 | ||
| #endif | ||
|
|
||
| ;; | ||
| (** {2:connectBluetooth How to connect the brick through bluetooth} | ||
| You need to create a serial port connection using the instructions | ||
| below for your platform. Then use {!NXT.connect_bluetooth} to | ||
| create a handle for the brick. | ||
| {3 Linux} | ||
| First make sure your kernel has bluetooth support (this is likely) and | ||
| that the bluez and gnome-bluetooth (or kdebluetooth) pakages are | ||
| installed. You should see a bluetooth applet icon. Then do (the | ||
| text after the $ sign is what you type, underneath is the answer): | ||
| {v | ||
| $ hcitool scan | ||
| Scanning ... | ||
| 00:16:53:03:A5:32 NXT | ||
| v} | ||
| to discover the address of your brick. Then use | ||
| {!NXT.connect_bluetooth}[ "00:16:53:03:A5:32"] | ||
| or {!EV3.connect_bluetooth}[ "00:16:53:03:A5:32"] to establish the | ||
| connection (of course, replace ["00:16:53:03:A5:32"] by your actual | ||
| bluetooth address) — the first time, the brick will ask you to enter | ||
| a code and the bluetooth applet will pop up a box in which you need to | ||
| copy the very same code (this is to forbid unwanted connections). | ||
| If test programs fail with [Unix.Unix_error(Unix.EUNKNOWNERR ...)] | ||
| and your computer does not ask you the passkey (which may indicate | ||
| that you should check that the blueman applet is not running multiple | ||
| times), pair the brick with your computer first. One way to do it is | ||
| to run [bluetoothctl] and type at its prompt (output only partly | ||
| shown): | ||
| {v | ||
| [bluetooth]# scan on | ||
| Discovery started | ||
| [CHG] Controller 87:EE:A8:C3:A5:83 Discovering: yes | ||
| [NEW] Device 01:15:34:56:31:11 EV3 | ||
| [bluetooth]# agent on | ||
| Agent registered | ||
| [bluetooth]# default-agent | ||
| Default agent request successful | ||
| [bluetooth]# pair 01:15:34:56:31:11 | ||
| Attempting to pair with 01:15:34:56:31:11 | ||
| Request PIN code | ||
| [agent] Enter PIN code: 1234 | ||
| ... | ||
| v} | ||
| You should then be able to connect to the brick without a confirmation | ||
| being requested. | ||
| {3 MacOS X} | ||
| + Turn on the NXT brick and make sure bluetooth is on and visible (you | ||
| should see a bluetooth icon at the top left corner). | ||
| + Turn on the Bluetooth on your Mac. Then click the bluetooth icon in | ||
| the menubar, select "Open Bluetooth Preferences..." | ||
| + You should see the brick (it's just called [NXT] by default) listed | ||
| under 'Devices', with an option called 'Pair' on the right. If you | ||
| don't see the device or don't see 'Pair', consider restarting the | ||
| bluetooth on your computer and your brick and double-checking | ||
| visibility. | ||
| + Select the [Pair] option beside [NXT] from the list.; | ||
| + The NXT will beep and ask for a passkey. Choose 1234 (this is the | ||
| default but you can choose anything you like) and press the orange | ||
| button. | ||
| + The Mac will immediately complain, saying "Pairing failed". Ignore | ||
| this. You will see that a new button, called "Options", has become | ||
| available in the bluetooth menu. Click it. You'll now see a prompt | ||
| for a code. Enter the same passkey as you did on the brick itself. | ||
| + The NXT will beep again. You must enter your code yet again. This | ||
| three-step process should get you your connection. On the Bluetooth | ||
| menu, you will find that NXT is 'Connected'. | ||
| + Note: It is pointless to proceed unless the steps above have been | ||
| completed. Even if you run into trouble, please work on getting | ||
| through the above before proceeding. | ||
| + Now the brick and the Mac are talking, but we need to know which | ||
| egress port is being used by the Mac, so we can send out our | ||
| instructions to the brick via that port. Fortunately, this is easy | ||
| enough to do. Run [ls -t /dev] in Terminal. This lists the files in | ||
| the directory [/dev] arranged by the last time they were modified, | ||
| with the most recent on top. | ||
| + Somewhere near the top, you will see an entry alike | ||
| [tty.NXT-DevB]. Figure out exactly what it is for your | ||
| computer. This name is very important. | ||
| You're done! You should now have a [/dev/tty.NXT-DevB]. This means you | ||
| can connect to the brick using something to the tone of | ||
| {!NXT.connect_bluetooth}[ "/dev/tty.NXT-DevB"]. Substitute | ||
| with the name you found above, of course. Beware that if you rename | ||
| the brick with {!NXT.set_brick_name}, you will have to change | ||
| the name accordingly. Note also that this name may change when you | ||
| disconnect and reconnect. If you can't establish a connection some | ||
| time in the future, consider going back and checking the [/dev] | ||
| directory to see if things have changed. | ||
| {3 Windows} | ||
| {4 Without the fantom drivers installed} | ||
| From windows, open the bluetooth control panel, create a new | ||
| connection to the NXT brick, right click on your connection and select | ||
| "details" to see which serial port is used, for example COM40. Then | ||
| use {!NXT.connect_bluetooth}[ "COM40"] to connect to the brick from | ||
| your programs. ATM, you have to always start by establishing the | ||
| connection by hand before you can use the brick. Patches are welcome | ||
| so that is is enough to pass the bluetooth address to | ||
| {!NXT.connect_bluetooth} and the library performs the | ||
| connection. | ||
| Windows Vista uses different ports for outgoing and incoming | ||
| connections (e.g. COM4 for outgoing connections and COM5 for incoming | ||
| ones). With this library, you must use the outgoing port. | ||
| {4 With the fantom drivers installed} | ||
| Once the fantom drivers are on your machine (which is the case if you | ||
| installed the LEGO® NXTG software), the above method does not work | ||
| anymore. It is then probably necessary to use these drivers through | ||
| the {{:http://mindstorms.lego.com/Overview/NXTreme.aspx}Driver SDK}. | ||
| This will be investigated in a subsequent revision of this library | ||
| but you are encouraged to contribute. | ||
| {2:connectUSB How to connect the brick through USB} | ||
| {3 Linux} | ||
| For easy access, create a [lego] group, add your user to it, and create | ||
| a file [/etc/udev/rules.d/70-lego.rules] containing: | ||
| {v | ||
| # Lego NXT -*-conf-*- | ||
| BUS=="usb", SYSFS{idVendor}=="0694", GROUP="lego", MODE="0660" | ||
| v} | ||
| To list the NXT bricks connected through USB to your computer, use | ||
| {!NXT.USB.bricks}. To connect to one of these bricks, say [b], | ||
| use {!NXT.USB.connect}[ b] (you can the query the brick, say for | ||
| its name, to decide whether it is the device you want to talk to). | ||
| {3 MacOS X} | ||
| TBD. | ||
| {3 Windows} | ||
| Install {{:http://libusb-win32.sourceforge.net/}libusb-win32}. | ||
| You need the LEGO® Mindstorms NXT software installed, as its USB | ||
| drivers are used. (Please contribute.) | ||
| *) | ||