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Embedded Coder Robot NXT Demo

15 Dec 2006 (Updated 09 Apr 2009)

Offers an enjoyable Model-Based Design experience using Simulink models with Lego robots

File Information
Description	- This demo supports R2006a -> R2009a Simulink plant and controller models are used with LEGO's latest high-tech robot (ARM-based LEGO Mindstorms NXT) to illustrate industrial application of Model-Based Design with Production Code Generation. Take note of the model architecture and component definition, as well as, use of fixed- and floating-point designs. This demo includes three examples: Maze walking tricycle robot Line tracing tricycle robot Self balancing bi-wheeled robot NXT Remocon demo In each example, you can simulate the robot on your personally designed bmp track with 3D virtual reality. ** For additional lego robot demos and capabilities with MATLAB and Simulink, see: http://www.mathworks.com/programs/lego/index.html <Disclaimer> LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this demo. LEGO(R) and Mindstorms(R) are registered trademarks of The LEGO Group.
Acknowledgements	The author wishes to acknowledge the following in the creation of this submission: NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design This submission has inspired the following: NXT SCARA (Two-Link Planar Robot Arm) Controller Design, NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design, NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design, NXT Scanner with Lego Mindstorms NXT
Required Products	Real-Time Workshop Real-Time Workshop Embedded Coder Simulink
MATLAB release	MATLAB 7.2 (R2006a)
Other requirements	Works with R2006a - R2009a
Zip File Content
Other Files	ecrobotNXT/docs/Embedded Coder Robot NXT Tips En.pdf, ecrobotNXT/ECRobot Installation Instructions.pdf, ecrobotNXT/ecrobotnxtsetup.m, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Parameter/CustomRTWInfo_Parameter.p, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Parameter/CustomStorageClassListener.p, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Parameter/NXT_CustomRTWInfo_Parameter_Constructor.p, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Parameter/schema.p, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Signal/CustomRTWInfo_Signal.p, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Signal/CustomStorageClassListener.p, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Signal/NXT_CustomRTWInfo_Signal_Constructor.p, ecrobotNXT/environment/@NXT/@CustomRTWInfo_Signal/schema.p, ecrobotNXT/environment/@NXT/@Signal/NXT_Signal_Constructor.p, ecrobotNXT/environment/@NXT/@Signal/schema.p, ecrobotNXT/environment/@NXT/@Signal/Signal.p, ecrobotNXT/environment/@NXT/csc_registration.m, ecrobotNXT/environment/@NXT/packagedefn.mat, ecrobotNXT/environment/@NXT/schema.p, ecrobotNXT/environment/@NXT/tlc/FlatStructure.tlc, ecrobotNXT/environment/@NXT/tlc/NXTGetSet.tlc, ecrobotNXT/environment/@NXT/tlc/Unstructured.tlc, ecrobotNXT/environment/@nxtusb/close.m, ecrobotNXT/environment/@nxtusb/delete.m, ecrobotNXT/environment/@nxtusb/display.m, ecrobotNXT/environment/@nxtusb/get.m, ecrobotNXT/environment/@nxtusb/nxtusb.m, ecrobotNXT/environment/@nxtusb/open.m, ecrobotNXT/environment/@nxtusb/private/mexusb.mexw32, ecrobotNXT/environment/@nxtusb/read.m, ecrobotNXT/environment/@nxtusb/set.m, ecrobotNXT/environment/@nxtusb/subsasgn.m, ecrobotNXT/environment/@nxtusb/subsref.m, ecrobotNXT/environment/@nxtusb/write.m, ecrobotNXT/environment/@w32serial/display.m, ecrobotNXT/environment/@w32serial/fclose.m, ecrobotNXT/environment/@w32serial/fopen.m, ecrobotNXT/environment/@w32serial/fread.m, ecrobotNXT/environment/@w32serial/fwrite.m, ecrobotNXT/environment/@w32serial/get.m, ecrobotNXT/environment/@w32serial/private/communicate.c, ecrobotNXT/environment/@w32serial/private/communicate.h, ecrobotNXT/environment/@w32serial/private/communicate.m, ecrobotNXT/environment/@w32serial/private/communicate.mexw32, ecrobotNXT/environment/@w32serial/private/commutil.c, ecrobotNXT/environment/@w32serial/private/make_mex.m, ecrobotNXT/environment/@w32serial/readme.txt, ecrobotNXT/environment/@w32serial/set.m, ecrobotNXT/environment/@w32serial/subsasgn.m, ecrobotNXT/environment/@w32serial/subsref.m, ecrobotNXT/environment/@w32serial/w32serial.m, ecrobotNXT/environment/AnalogGamePad.jpg, ecrobotNXT/environment/BATTERY_VOLTAGE.gif, ecrobotNXT/environment/BEEP.JPG, ecrobotNXT/environment/BLUETOOTH.jpg, ecrobotNXT/environment/clearNXTSignalObjects.m, ecrobotNXT/environment/ColorSensor.jpeg, ecrobotNXT/environment/createNXTSignalObject.m, ecrobotNXT/environment/ecrobot_nxt_lib.mdl, ecrobotNXT/environment/ENTER_BUTTON.JPG, ecrobotNXT/environment/HiTechnicSensor.jpg, ecrobotNXT/environment/InitAccessorBlock.m, ecrobotNXT/environment/InitDeviceSFunBlock.m, ecrobotNXT/environment/InitInterfaceBlock.m, ecrobotNXT/environment/joystick_ctrl.JPG, ecrobotNXT/environment/LIGHT_SENSOR.gif, ecrobotNXT/environment/mtlb.wav, ecrobotNXT/environment/NXT_ICON.gif, ecrobotNXT/environment/nxtbuild.m, ecrobotNXT/environment/nxtconfig.m, ecrobotNXT/environment/private/iConvAbsPath2CygPath.m, ecrobotNXT/environment/private/iGenerateBuildBat.m, ecrobotNXT/environment/private/iGenerateCommand.m, ecrobotNXT/environment/private/iGenerateMakefile.m, ecrobotNXT/environment/private/iGenerateSchedulerFiles.m, ecrobotNXT/environment/private/iGetAccelerationBlockPortID.m, ecrobotNXT/environment/private/iGetBluetoothDeviceAddress.m, ecrobotNXT/environment/private/iGetBluetoothDeviceMode.m, ecrobotNXT/environment/private/iGetColorSensorBlockPortID.m, ecrobotNXT/environment/private/iGetCYGWIN_BIN.m, ecrobotNXT/environment/private/iGetExportedFcnCallsScheduler.m, ecrobotNXT/environment/private/iGetFunctionName.m, ecrobotNXT/environment/private/iGetFunctionSource.m, ecrobotNXT/environment/private/iGetGNUARM_ROOT.m, ecrobotNXT/environment/private/iGetIntegerLibsrcFiles.m, ecrobotNXT/environment/private/iGetIRSeekerBlockPortID.m, ecrobotNXT/environment/private/iGetJSPSemaphore.m, ecrobotNXT/environment/private/iGetLibsrcFiles.m, ecrobotNXT/environment/private/iGetNEXTTOOL_ROOT.m, ecrobotNXT/environment/private/iGetNumOfPeriodicalTasks.m, ecrobotNXT/environment/private/iGetOSEKResource.m, ecrobotNXT/environment/private/iGetOSEKResourcesForOIL.m, ecrobotNXT/environment/private/iGetPlatform.m, ecrobotNXT/environment/private/iGetPlatformFolderName.m, ecrobotNXT/environment/private/iGetRTWECGenCfiles.m, ecrobotNXT/environment/private/iGetTaskStackSize.m, ecrobotNXT/environment/private/iGetWavFileNames.m, ecrobotNXT/environment/private/iHasBluetoothBlock.m, ecrobotNXT/environment/private/iHasNXTGamePadADCDataLoggerBlock.m, ecrobotNXT/environment/private/iHasSoundWavWriteBlock.m, ecrobotNXT/environment/private/iHasUSBBlock.m, ecrobotNXT/environment/private/iWriteECRobotCFG.m, ecrobotNXT/environment/private/iWriteECRobotDeviceInitialize.m, ecrobotNXT/environment/private/iWriteECRobotDeviceTerminate.m, ecrobotNXT/environment/private/iWriteECRobotExternalInterfaceH.m, ecrobotNXT/environment/private/iWriteECRobotMainForJSP.m, ecrobotNXT/environment/private/iWriteECRobotMainForOSEK.m, ecrobotNXT/environment/private/iWriteECRobotMainH.m, ecrobotNXT/environment/private/iWriteECRobotOIL.m, ecrobotNXT/environment/private/iWriteFunctionHeader.m, ecrobotNXT/environment/private/iWriteNXTDefinitionForOSEK.m, ecrobotNXT/environment/private/iWriteNXTFooter.m, ecrobotNXT/environment/private/iWriteNXTFunctionDescription.m, ecrobotNXT/environment/private/iWriteNXTHeader.m, ecrobotNXT/environment/private/iWriteNXTInclude.m, ecrobotNXT/environment/private/iWriteWavDataDeclarations.m, ecrobotNXT/environment/private/iWriteXCP_PAR.m, ecrobotNXT/environment/ROTATION_SENSOR.gif, ecrobotNXT/environment/RUN_BUTTON.JPG, ecrobotNXT/environment/SERVO_MOTOR.gif, ecrobotNXT/environment/set_fcncallname.m, ecrobotNXT/environment/sfun_acceleration_sensor.c, ecrobotNXT/environment/sfun_acceleration_sensor.mexw32, ecrobotNXT/environment/sfun_acceleration_sensor.tlc, ecrobotNXT/environment/sfun_bt_rx.c, ecrobotNXT/environment/sfun_bt_rx.mexw32, ecrobotNXT/environment/sfun_bt_rx.tlc, ecrobotNXT/environment/sfun_bt_tx.c, ecrobotNXT/environment/sfun_bt_tx.mexw32, ecrobotNXT/environment/sfun_bt_tx.tlc, ecrobotNXT/environment/sfun_color_sensor.c, ecrobotNXT/environment/sfun_color_sensor.mexw32, ecrobotNXT/environment/sfun_color_sensor.tlc, ecrobotNXT/environment/sfun_expfcncallsscheduler.c, ecrobotNXT/environment/sfun_expfcncallsscheduler.mexw32, ecrobotNXT/environment/sfun_gamepad_datalogger.c, ecrobotNXT/environment/sfun_gamepad_datalogger.mexw32, ecrobotNXT/environment/sfun_gamepad_datalogger.tlc, ecrobotNXT/environment/sfun_ir_seeker.c, ecrobotNXT/environment/sfun_ir_seeker.mexw32, ecrobotNXT/environment/sfun_ir_seeker.tlc, ecrobotNXT/environment/sfun_soundtone.c, ecrobotNXT/environment/sfun_soundtone.mexw32, ecrobotNXT/environment/sfun_soundtone.tlc, ecrobotNXT/environment/sfun_soundvoltone.c, ecrobotNXT/environment/sfun_soundvoltone.mexw32, ecrobotNXT/environment/sfun_soundvoltone.tlc, ecrobotNXT/environment/sfun_usb_disconnect.c, ecrobotNXT/environment/sfun_usb_disconnect.mexw32, ecrobotNXT/environment/sfun_usb_disconnect.tlc, ecrobotNXT/environment/sfun_usb_rx.c, ecrobotNXT/environment/sfun_usb_rx.mexw32, ecrobotNXT/environment/sfun_usb_rx.tlc, ecrobotNXT/environment/sfun_usb_tx.c, ecrobotNXT/environment/sfun_usb_tx.mexw32, ecrobotNXT/environment/sfun_usb_tx.tlc, ecrobotNXT/environment/sfunxymap2.m, ecrobotNXT/environment/slblocks.m, ecrobotNXT/environment/SONIC_SENSOR.gif, ecrobotNXT/environment/SOUND_SENSOR.gif, ecrobotNXT/environment/steeringwheel_ctrl.JPG, ecrobotNXT/environment/SYSTEM_CLOCK.GIF, ecrobotNXT/environment/TOUCH_SENSOR.gif, ecrobotNXT/environment/track_template.bmp, ecrobotNXT/environment/track_template.wrl, ecrobotNXT/environment/usb1394_02_l.jpg, ecrobotNXT/environment/usb1394_02_r.jpg, ecrobotNXT/environment/writenxtdisplay.m, ecrobotNXT/environment/writevrtrack.m, ecrobotNXT/nxt2nxt/master_ctrl.mdl, ecrobotNXT/nxt2nxt/nxt2nxt.mdl, ecrobotNXT/nxt2nxt/slave_ctrl.mdl, ecrobotNXT/nxtmouse/nxtmouse.mdl, ecrobotNXT/nxtmouse/nxtmouse_ctrl.mdl, ecrobotNXT/nxtmouse/param.m, ecrobotNXT/nxtmouse/track.bmp, ecrobotNXT/nxtmouse/track.wrl, ecrobotNXT/nxtmouse/vrnxtcartrack.wrl, ecrobotNXT/nxtracer/nxtracer.mdl, ecrobotNXT/nxtracer/nxtracer_ctrl.mdl, ecrobotNXT/nxtracer/param.m, ecrobotNXT/nxtracer/track.bmp, ecrobotNXT/nxtracer/track.wrl, ecrobotNXT/nxtracer/vrnxtcartrack.wrl, ecrobotNXT/nxtremocon/joystick_ctrl.mdl, ecrobotNXT/nxtremocon/load_logdata.m, ecrobotNXT/nxtremocon/logging_data.csv, ecrobotNXT/nxtremocon/SoundList.m, ecrobotNXT/nxtremocon/steeringwheel_ctrl.mdl, ecrobotNXT/nxtway/nxtway.mdl, ecrobotNXT/nxtway/nxtway_ctrl.mdl, ecrobotNXT/nxtway/NXTwayBluetoothRead.m, ecrobotNXT/nxtway/param.m, ecrobotNXT/nxtway/track.bmp, ecrobotNXT/nxtway/track.wrl, ecrobotNXT/nxtway/type1_servo.m, ecrobotNXT/nxtway/vrnxtwaytrack.wrl, ecrobotNXT/samples/BluetoothRead.m, ecrobotNXT/samples/BluetoothWrite.m, ecrobotNXT/samples/FrequencyList.m, ecrobotNXT/samples/TestBluetoothRx.mdl, ecrobotNXT/samples/TestBluetoothTx.mdl, ecrobotNXT/samples/TestFloatingPoint.mdl, ecrobotNXT/samples/TestHiTechnicColorSensor.mdl, ecrobotNXT/samples/TestHiTechnicCompassSensor.mdl, ecrobotNXT/samples/TestHiTechnicIRSeeker.mdl, ecrobotNXT/samples/TestHiTechnicSensors.mdl, ecrobotNXT/samples/TestMotorJSP.mdl, ecrobotNXT/samples/TestMotorOSEK.mdl, ecrobotNXT/samples/TestNXTGamePad.mdl, ecrobotNXT/samples/TestSoundTone.mdl, ecrobotNXT/samples/TestSoundWAV.mdl, ecrobotNXT/samples/TestUltrasonicSensor.mdl, ecrobotNXT/samples/TestUSB_Rx.mdl, ecrobotNXT/samples/TestUSB_Tx.mdl, ecrobotNXT/samples/USBread.m, ecrobotNXT/samples/USBreadColorSensor.m, ecrobotNXT/samples/USBreadCompassSensor.m, ecrobotNXT/samples/USBreadIRSeeker.m, ecrobotNXT/samples/USBwrite.m

Tags for This File
Everyone's Tags	control design, ecrobot, embedded code(2), lego mindstorms nxt(2), modelbased design, realtime workshop, robot, simulation, simulink, verification, virtual(2)
Tags I've Applied
Add New Tags	Please login to tag files.

Comments and Ratings (20)
16 Mar 2007	hamed nozari
21 Mar 2007	Kin Fung Chu	good
25 Mar 2007	Warden Wei
31 Mar 2007	ilan zohar	Excelnt job. Wait for the nxt version for bluetooth support and genric I2C.
20 Oct 2007	Vicente Parra	Wonderful tool. This allows we researchers to devote the short spare time we have to support mindstrom based activities for children, which otherwise would rather imposible ro do.
22 Oct 2007	Takashi Chikamasa	For more detailed info about Embedded Coder Robot NXT, check http://lejos-osek.sourceforge.net/ecrobot_nxt.htm
27 Oct 2007	Sina ferdowsi	thast very good Kind Regards
30 Oct 2007	pezeshki zahra	i want information about robot for my programming
04 Jan 2008	Fatih Can
05 Feb 2008	Yasuhiko Matoba
11 Feb 2008	Shein-Yung Cheng
17 Feb 2008	D kiven
27 Feb 2008	Nabhiraj Yalagoud
27 Feb 2008	Nabhiraj Yalagoud	very good
10 Mar 2008	Ali Hamouda Ali
10 Mar 2008	Ali Hamouda Ali	nural net and feature extraction
17 Mar 2008	Anas Obeidat	it's Excellent Simulation to NXT robot, but we need a good manual, to explain all circuit components, and how we can develop more demos
29 Jul 2008	aditya jha	very good
01 Oct 2008	eugenio marino
05 Mar 2009	Syed Noman	v goooooooooddd

Please login to add a comment or rating.

Updates
27 Mar 2007	## Rev.200 02/28/2007. Support for Real-Time Workshop Embedded Coder deployment to ATMEL AT91SAM7S256 in the NXT (no Bluetooth/USB support) ## Rev.202 26/03/2007 Updated LEJOS NXJ to 0.2alpha
29 May 2007	06/01/2007 - Integrated LEJOS OSEK RTOS - Support Bluetooth for target deployment - Obsolete Keyboard Input block
30 May 2007	Fixed format issues with PDF document.
10 Sep 2007	What's new in ECRobot NXT V3.03 is: - Support MATLAB R2006a to R2007b, including model reference normal mode - Support floating-point code generation (fixed-point is already supported) - Added Bluetooth data logging feature
21 Nov 2007	- Added support for HiTechnic Acceleration and Gyro Sensors, which are useful for control engineers.
26 Nov 2007	- reposting v3.04 since didn't update.
04 Feb 2008	What's new in V3.05: - Supports NXT to NXT Bluetooth communication (nxt2nxt demo is available) - Supports Sound Tone blocks - Refactored ECRobot NXT customizations
10 Mar 2008	V3.06 New Features: - Supports R2006 -> R2008a - Uses LEGO standard USB driver (fantom.sys) instead of ATMEL SAM-BA - New NXT Remocon demo, similar to Nintendo Wiimote remote control with sound - Updated docs
09 Apr 2008	what's new in V3.10: - ecrobotnxtsetup.m enables users to easily establish path settings via GUI. - Support for LEJOS OSEK 2.0 application flash (over 200Kbytes Flash and ~50Kbytes SRAM are available for user application)
11 Jun 2008	CRobot NXT v3.12: - Support for enhanced NXT standard firmware (so So ECRobot NXT can be used without replacing firmware.) - Support for nxtOSEK v2.02
19 Jun 2008	Second attempt to upload v3.12
30 Oct 2008	What's new in v3.14: - Support for R2006a - R2008b - Added USB Tx/Rx blocks and MATLAB USB API for the NXT(nxtusb) - Added ENTER/RUN button blocks
18 Dec 2008	Added acknowledgment for "MBD for the NXT GT-Hi"
03 Feb 2009	What's new in v3.16: - More user friendly instructions and self diagnostic installer - Shipped with a version of nxtOSEK/JSP - Support for an OSEK RTOS/μITRON RTOS - Added USB Rx/Tx blocks
04 Feb 2009	What's new in v3.16+: Fixed a bug of ecrobotnxtsetup.m
09 Apr 2009	What's new in v3.17: - Added HiTechnic Color, Compass and IR Seeker blocks - Removed nxtOSEK (it needs to download from nxtOSEK website) - More self diagnostic ecrobotnxtsetup.m

Tag Activity for this File
Tag	Applied By	Date/Time
realtime workshop	Tom Erkkinen	22 Oct 2008 08:52:32
embedded code	Tom Erkkinen	22 Oct 2008 08:52:32
modelbased design	Tom Erkkinen	22 Oct 2008 08:52:33
verification	Tom Erkkinen	22 Oct 2008 08:52:33
ecrobot	Tom Erkkinen	22 Oct 2008 08:52:33
lego mindstorms nxt	Tom Erkkinen	22 Oct 2008 08:52:33
robot	Tom Erkkinen	22 Oct 2008 08:52:33
virtual	Tom Erkkinen	22 Oct 2008 08:52:33
virtual	Anant Khanna	01 Nov 2008 10:13:10
lego mindstorms nxt	George	22 Jan 2009 04:12:58
control design	Takashi Chikamasa	04 Feb 2009 15:17:06
embedded code	Takashi Chikamasa	04 Feb 2009 15:17:07
simulink	Takashi Chikamasa	04 Feb 2009 15:17:07
simulation	Takashi Chikamasa	04 Feb 2009 15:28:36

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