added pbLua

examples/tutorial/ConvertXPM.sh

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+mogrify -format png -rotate 270 -scale 200% *.xpm

examples/tutorial/pbLuaAdvancedMotors.lua

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+-- This is the example code file for the webpage at:
+--
+-- www.hempeldesigngroup.com/lego/pbLua/tutorial/pbLuaAdvancedMotors.html
+
+--codeExampleStart 1 -----------------------------------------------------------
+-- Read tachos until the orange button is pressed
+function TachoRead(port)
+
+  repeat
+    if 4 == nxt.ButtonRead() then
+      nxt.OutputResetTacho(port,1,0,0)
+    elseif 2 == nxt.ButtonRead() then
+      nxt.OutputResetTacho(port,0,0,1)
+    elseif 1 == nxt.ButtonRead() then
+      nxt.OutputResetTacho(port,0,1,0)
+    end
+
+    print( nxt.TimerRead(), nxt.OutputGetStatus(port) )
+
+    t = nxt.TimerRead()
+    while t+100 > nxt.TimerRead() do
+      -- nothing
+    end
+  until( 8 == nxt.ButtonRead() )
+end
+
+-- And using the function with a motor plugged into port A...
+TachoRead(1)
+--codeExampleEnd 1
+
+--codeExampleStart 2 -----------------------------------------------------------
+-- Turn Motor 1 exactly 180 degrees at half speed
+port = 1
+nxt.OutputSetRegulation(port,1,1)
+nxt.OutputSetSpeed(port,0x20,50,180)
+--codeExampleEnd 2
+
+--codeExampleStart 3 -----------------------------------------------------------
+-- Turn Motor 1 exactly 180 degrees - and wait until done
+port = 1
+function move(degrees)
+  nxt.OutputSetRegulation(port,1,1)
+
+  _,tacho = nxt.OutputGetStatus(port)
+  nxt.OutputSetSpeed(port,0x20,nxt.sign(degrees)*50,nxt.abs(degrees))
+
+  repeat
+    _,curtacho = nxt.OutputGetStatus(port)
+  until 4 > nxt.abs( curtacho - (tacho + degrees) )
+end
+--codeExampleEnd 3
+
+--codeExampleStart n -----------------------------------------------------------
+--codeExampleEnd n
+
+

examples/tutorial/pbLuaBasicMotors.lua

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+-- This is the example code file for the webpage at:
+--
+-- www.hempeldesigngroup.com/lego/pbLua/tutorial/pbLuaBasicMotors.html
+
+--codeExampleStart 1 -----------------------------------------------------------
+-- Read motor port until the orange button is pressed
+function MotorRead(port)
+
+  repeat
+    print( nxt.TimerRead(), nxt.OutputGetStatus(port) )
+  until( 8 == nxt.ButtonRead() )
+end
+
+-- And using the function with a motor plugged into port A...
+MotorRead(1)
+--codeExampleEnd 1
+
+--codeExampleStart 2 -----------------------------------------------------------
+-- Read motor port until the orange button is pressed
+-- Left arrow decreases speed
+-- Right arrow increases speed
+function MotorSpeed(port)
+  local speed = 0
+
+  repeat
+    if 4 == nxt.ButtonRead() then
+      if speed >= -95 then
+        speed = speed - 5
+        nxt.OutputSetSpeed( port, 32, speed )
+      end
+    end
+
+    if 2 == nxt.ButtonRead() then
+      if speed <= 95 then
+        speed = speed + 5
+        nxt.OutputSetSpeed( port, 32, speed )
+      end
+    end
+
+    print( nxt.TimerRead(), nxt.OutputGetStatus(port) )
+  until( 8 == nxt.ButtonRead() )
+
+  -- Remember to turn the motor off!
+  nxt.OutputSetSpeed( port, 0, 0 )
+end
+
+-- And using the function with a motor plugged into port A...
+MotorSpeed(1)
+--codeExampleEnd 2
+
+--codeExampleStart 3 -----------------------------------------------------------
+-- Read motor port until the orange button is pressed
+-- Left arrow decreases speed
+-- Right arrow increases speed
+function MotorSpeed(port)
+  local speed = 0
+  local oldButton = 0
+  local newButton = 0
+
+  repeat
+    newButton = nxt.ButtonRead()
+
+    if 0 == oldButton then
+      -- Only check buttons if no buttons are pressed!
+
+      if 4 == newButton then
+        if speed >= -95 then
+          speed = speed - 5
+          nxt.OutputSetSpeed( port, 32, speed )
+        end
+      end
+
+      if 2 == newButton then
+        if speed <= 95 then
+          speed = speed + 5
+          nxt.OutputSetSpeed( port, 32, speed )
+        end
+      end
+    end
+
+    oldButton = newButton
+
+    print( nxt.TimerRead(), nxt.OutputGetStatus(port) )
+
+  until( 8 == newButton )
+
+  -- Remember to turn the motor off!
+  nxt.OutputSetSpeed( port, 0, 0 )
+end
+-- And using the function with a motor plugged into port A...
+MotorSpeed(1)
+--codeExampleEnd 3
+
+--codeExampleStart 4 -----------------------------------------------------------
+-- Read motor port until the orange button is pressed
+-- Left arrow decreases speed
+-- Right arrow increases speed
+
+function MotorSpeed(port, state, mode )
+  local speed = 0
+  local oldButton = 0
+  local newButton = 0
+
+  nxt.OutputSetRegulation( port, state, mode )
+
+  repeat
+    newButton = nxt.ButtonRead()
+
+    if 0 == oldButton then
+      if 4 == newButton then
+        if speed >= -95 then
+          speed = speed - 5
+          nxt.OutputSetSpeed( port, 32, speed )
+        end
+      end
+
+      if 2 == newButton then
+        if speed <= 95 then
+          speed = speed + 5
+          nxt.OutputSetSpeed( port, 32, speed )
+        end
+      end
+    end
+
+    oldButton = newButton
+
+    print( nxt.TimerRead(), nxt.OutputGetStatus(port), nxt.HeapInfo() )
+  until( 8 == newButton )
+
+  -- Remember to turn the motor off!
+  nxt.OutputSetSpeed( port, 0, 0 )
+end
+
+-- Now try it out with regulation in float mode...
+MotorSpeed( 1, 1, 0 )
+
+-- Now try it out with regulation in brake mode...
+MotorSpeed( 1, 1, 1 )
+
+-- And with no regulation at all...
+MotorSpeed( 1, 0, 0 )
+--codeExampleEnd 4
+
+--codeExampleStart 5 -----------------------------------------------------------
+-- Line Follower!
+function LineFollow(target,delay,n)
+  local port = 1
+
+  nxt.InputSetType(port,5)
+
+  nxt.OutputSetRegulation(1,1,1)
+  nxt.OutputSetRegulation(3,1,1)
+
+  local idx = 1
+  local speed = 0;
+
+  -- initialize the raw array to "grey"
+  local raw = {}
+  for i=1,n do
+    raw[i] = target
+  end
+
+  repeat
+   t = nxt.TimerRead()
+   while t+delay > nxt.TimerRead() do
+     -- nothing
+   end
+
+   -- get a new raw reading
+   raw[(idx%n)+1] = nxt.InputGetStatus(port)
+
+   -- calculate the average
+   local sum = 0
+   for i=1,n do
+     sum = sum + raw[n]
+   end
+
+   local avg = sum/n
+
+   print( avg )
+
+   if avg > target then
+     speed = 20 + ((avg - target)/2)
+     if speed > 50 then speed = 50 end
+
+     nxt.OutputSetSpeed(1,0x20,20)
+     nxt.OutputSetSpeed(3,0x20,speed)
+   else
+     speed = 20 + ((target - avg)/2)
+     if speed > 50 then speed = 50 end
+
+     nxt.OutputSetSpeed(1,0x20,speed)
+     nxt.OutputSetSpeed(3,0x20,20)
+   end
+
+   idx = idx + 1
+  until( 8 == nxt.ButtonRead() )
+
+  nxt.OutputSetSpeed(1,0,0)
+  nxt.OutputSetSpeed(3,0,0)
+  nxt.InputSetState(port,0,0)
+end
+
+-- And using the function - press the orange button on the NXT to stop it
+LineFollow(760,780)
+--codeExampleEnd 5
+
+--codeExampleStart 6 -----------------------------------------------------------
+-- Sync Motors B (I) and C (II) - the speed is s and the difference is t
+
+function MotorSync(s,t)
+
+  nxt.OutputResetTacho(2,1,1,1)
+  nxt.OutputResetTacho(3,1,1,1)
+
+  nxt.OutputSetRegulation(2,2,1)
+  nxt.OutputSetRegulation(3,2,1)
+
+  nxt.DisableNXT( 1 );
+  nxt.OutputSetSpeed(2,0x20,s, 0, t )
+  nxt.OutputSetSpeed(3,0x20,s, 0, t )
+  nxt.DisableNXT( 0 );
+
+  repeat
+  until( 8 == nxt.ButtonRead() )
+
+  nxt.OutputSetSpeed(2)
+  nxt.OutputSetSpeed(3)
+end
+-- And using the function - press the orange button on the NXT to stop it
+
+-- Motor I and II try to stay sunchronized
+MotorSync(75,0)
+
+-- Motor I turns a bit slower than Motor I
+MotorSync(75,20)
+
+-- Motor I stops - all power goes to Motor I
+MotorSync(75,50)
+
+-- Motor I turns a bit slower than Motor 1 - in the opposite direction
+MotorSync(75,60)
+--codeExampleEnd 6
+
+--codeExampleStart n -----------------------------------------------------------
+--codeExampleEnd n
+
+