NXT

Python Code to control a Lego NXT robot using various devices and technologies.

Featured ways to control robot:

• Directly using gamepad
• Gamepad via UDP server
• HTTP based remote control
• Flask based webinterface (Accelerometer and VirtualJoystick.js)

Installation

PerFact current config:

pi@192.168.43.235 pw aus secrets (PerFact User)

Beginners Guide

• Download repo

git clone https://github.com/gandie/NXT

• open Terminal in Repo

chmod +x build_env.sh
./build_env.sh
. ./venv3/bin/activate

Then you can start the Script with:

Online version

nxt_start_server -w

Then open in your Webbrowser localhost:5000 and press Create Websocket

Start PerFact Features

Start the camera stream:

sudo motion start

Start the Socket that gives the webserver the sensor data(shock detect/calibration)

sudo python3 sensor_service.py

Gamepad Version

If you want to use a PS3 Controller you can use the Command:

nxt_direct -m bluetooth -g

Not recommended, only for advanced Users

• Download bluetooth driver header files (to compile python bluetooth bindings)
• Create virtualenv
• Install last stable release of nxt python bindings into virtualenv
• Keep the releasse for possible modifications
• Install rest of the requirements into virtualenv via pip
• Install this python module into virtualenv

Something like this in bash (not yet tested!):

sudo apt-get install libbluetooth-dev python-virtualenv
virtualenv -p python3 venv3
. ./venv3/bin/activate
wget https://github.com/bene017/nxt-python/archive/master.zip
unzip master.zip
cd nxt-python-master
python3 setup.py install
cd ..
pip3 install -r requirements.txt
python3 setup.py install
cd pf_nxt/website
chmod +x bash.sh
cd ../..

USB-Setup (udev-rule) and more: https://github.com/Eelviny/nxt-python/wiki/Installation

Modify motor.py of this driver (nxt-python-2.2.2) to achieve higher accuracy using bluetooth.

Test if everything works fine, from inside the repository:

nxt_direct -m bluetooth -g

Read the text from the console and follow instructions to continue.

Kudos to @FancyChaos for the awesome nxt_pair module doing all the work!

Kudos to @MagnusM1709 && @bene017 Max Starke for working Websocket!