The instructions are reproduced here. Driving base Can you build a Shooterbot to move forward and then move back again? Programming guide Can you program a Shooterbot to move forward on the test pad and then move in reverse to its start position? Place the Shooterbot on the test pad and run the program. Color detection Can you build a Shooterbot to test colors on the test pad?
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Introduction 1. It can help system engineers gain more understanding about the designed system without manipulating the real system, which may be due to the fact that it is not yet defined or available, or it cannot be exercised directly owing to cost, time, resources, or risk constraints.
It extends MagicDraw to validate system behavior by executing, animating, and debugging UML state-machines and activity models in the context of realistic mock-ups of the intended user interface. When the Cameo Simulation Toolkit executes the opaque behavior, the script contained in the opaque behavior will be executed if it is written in any language supported by JSR Scripting for the Java Platform. This ability can be used to enable communication between the simulated model and external system.
It can be applied to create a system operated by the collaboration between the simulated model and the external devices. LEGO Mindstorms is the external device that we are interested in. LEGO Mindstorms contains software and hardware to create a customizable and programmable robot. This version contains 3 motors, 1 Ultrasonic sensor, 1 LED and light sensor, 2 touch sensors, and 1 brick processing unit.
Motor functions for controlling the motor rotator spinning clockwise or counterclockwise. Ultrasonic sensor function for detecting the nearest object. ShooterBot motion control functions for controlling the robot to move forward and backward and turn left and right. These functions simplify motor functions for controlling ShooterBot to move in the specified directions.
Figure 3 — Opaque Behavior for Setting the Output State of the Motor They can be reused to model complex activities by creating call behavior actions calling opaque behaviors as shown in Figure 4. Here, it is represented by the NXT Controller block. Its behaviors are defined with state machines and activities of such block.
The controller will change its state when it receives a triggered signal indicated on a transition. To create a user interface for the controller, we use the MagicDraw user interface diagram. With Cameo Simulation Toolkit, when a signal is dragged to the UI frame element, a button for sending the dragged signal will be created.
When the button is clicked, the signal will be sent to the controller and trigger the controller to change the state. Figure 7 shows the user interface of the controller created. The dialog represents the NXT Controller block. It consists of buttons for sending signals specified by the labels on the buttons. This value is the distance between ShooterBot and the nearest object detected by the ultrasonic sensor. The ShooterBot block represents ShooterBot.
It consists of state machines and activities of ShooterBot. The classifier behavior of the ShooterBot block is defined by the ShooterBot state machine shown in Figure 8. Thus, its classifier behavior will automatically start when the ShooterBot runtime object is created. During model execution, the runtime object of ShooterBot receives control signals sent from the controller. They will trigger the ShooterBot runtime object to change the state. Then, the activities specified at the entry and the exit of states will be executed.
The UltrasonicSensor block represents the ultrasonic sensor. It has an Ultrasonic Sensor state machine specified as its classifier behavior.
Execution Result After the model of ShooterBot, UltrasonicSensor, and NXT Controller models have been completed, the execution configuration and the instance specification of the models must be created with specified values. They will be executed with Cameo Simulation Toolkit.
To execute the models, their instance specification must be created with the values specified as shown in Figure Figure 12 — InstanceSpecification with Specified Values For the Execution Configuration element, it will be created with the specified properties values shown in Figure The execution target of the execution configuration is the instance specification of NXT Controller.
Figure 13 — Specification Dialog of Execution Configuration The created execution configuration will be selected and executed by Cameo Simulation Toolkit.
The mock-up panel, designed with the MagicDraw User Interface Modeling diagram, will be displayed as shown in Figure Figure 14 — Model Execution and the Mock-up Panel When the button in the mock-up panel is clicked, the signal associated with the button can be sent out to control ShooterBot.
The status of the system and the distance between ShooterBot and the detected object will be shown in the mock-up panel. Conclusion This work shows the system operated by the collaboration between the simulated model in Cameo Simulation Toolkit and external devices represented by LEGO Mindstorms. The mock-up user interface, modeled by MagicDraw User Interface Modeling, allows the user to select buttons to control the robot to move forward and backward, turn left and right, and fire the balls.
It can effectively help engineers reduce cost, time, and resources in the development of new systems. It can be used with bit Java Runtime Environment only.
Spotlight: LEGO Mindstorms NXT 2.0 programmable robotic toy
So here we are. You need to keep the working area as clear of things as possible or building any model gets harder and harder. Also it is a good idea to sort the bricks by colors and sizes before starting so you can save time looking for them. I bought three small boxes and IKEA that somewhat do the work by now. First robot: Shooterbot moves forward and back This is the base robot that we will use during the rest of the tutorial. So here it is a small stop-motion video of how I built it.
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