stimuli

sensor control program

response

actuator

stimuli

sensor control program

response

actuator

1. Other systems are part of the environment

2. Communicate with other systemsa. Mobile robotsb. Stationary computers

symbol

symbol to signal signal to symbol

symbol

wired or wireless

RCX Infrared Transmitter/Receiver, IR Tower

symbol 0 or 1

symbol to signal signal to symbol

symbol 0 or 1

symbol 0 or 1

symbol to signal signal to symbol

symbol 0 or 1

0

26 usec

1

0

1

symbol 0 or 1

symbol to signal signal to symbol

symbol 0 or 1

0

417 usec

1

0

1

2400 bit/sec

…

16 IR bursts

symbol 0 or 1

symbol to signal signal to symbol

symbol 0 or 1

2400 bit/sec

0

1

IR tower

1. Sends out IR messages every 0.5 sec

2. Receives and counts IR messages

1. Sends out IR messages every 0.5 sec

2. Receives and counts IR messages

NXT communication

NXT communication

Serial Port Profile

USB 2.0

Point-to-point

Serial

Master/slave

12 M bit/sec

Four wires

Bluetooth 2.0

Radio waves

Up to 10 m

3 M bit/sec

Embedded Java

The leJOS API classes provide wired and wireless communication:

USB

Bluetooth

USBSend/USBReceive

BTSend/BTReceive

PC NXT

USB cable

streams

outDat

inDat

dIn

dOut

USBSend USBReceive

1. Establish connection

2. Set up data streams

3. Use data streams

Can also use nxjpcc and nxjpc

1. Establish connection

2. Set up data streams

3. Use data streams

PC NXT

radiowaves

streams

dos

dis

dis

dos

BTSend BTReceive

NXT to NXT wireless

Situated communication

Legway