Difference between revisions of "LEGO IGT Compilation"

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This code was modified from:
 
This code was modified from:
−
    -NXT++: http://nxtpp.sourceforge.net
+
*NXT++: http://nxtpp.sourceforge.net
−
    -Device::USB: http://search.cpan.org/~gwadej/Device-USB-0.21
+
*Device::USB: http://search.cpan.org/~gwadej/Device-USB-0.21
  
 
= Linux Installation =
 
= Linux Installation =
Line 27: Line 27:
 
Another alternative is to use CMake:
 
Another alternative is to use CMake:
  
−
SET(CMAKE_CXX_FLAGS
+
  SET(CMAKE_CXX_FLAGS
−
  "-funsigned-char"
+
    "-funsigned-char"
−
)
+
  )
  
−
INCLUDE_DIRECTORIES(
+
  INCLUDE_DIRECTORIES(
−
  ...
+
    ...
−
  <your libusb directory (can be a relative path)>
+
    <your libusb directory (can be a relative path)>
−
)
+
  )
  
−
ADD_LIBRARY(<your library name>
+
  ADD_LIBRARY(<your library name>
−
  ...
+
    ...
−
  NXT_USB.cxx
+
    NXT_USB.cxx
−
  NXT_USB_linux.cxx
+
    NXT_USB_linux.cxx
−
)
+
  )
  
−
FIND_LIBRARY(LIBUSB_LIB
+
  FIND_LIBRARY(LIBUSB_LIB
−
  NAMES libusb-lib
+
    NAMES libusb-lib
−
  PATHS
+
    PATHS
 
     <your libusb directory (can be a relative path)>/lib
 
     <your libusb directory (can be a relative path)>/lib
−
)
+
  )
  
−
TARGET_LINK_LIBRARIES(Lego
+
  TARGET_LINK_LIBRARIES(Lego
−
  ...
+
    ...
−
  <your libusb directory (should be an absolute path)>/lib/libusb.so
+
    <your libusb directory (should be an absolute path)>/lib/libusb.so
−
)
+
  )
  
 
The simplest way to use this library is to keep the four NXT_USB files (NXT_USB.h, NXT_USB.cxx, NXT_USB_linux.h, and NXT_USB_linux.cxx) in the same directory as your program.  Simply #include "NXT_USB.h" and compile as usual.
 
The simplest way to use this library is to keep the four NXT_USB files (NXT_USB.h, NXT_USB.cxx, NXT_USB_linux.h, and NXT_USB_linux.cxx) in the same directory as your program.  Simply #include "NXT_USB.h" and compile as usual.
  
−
Contact information:
+
= Windows Installation =
 +
 
 +
The Windows installation of the NXT_USB requires the windows port of libusb using libusb-win32 open-source project.
 +
 
 +
# Go to [http://sourceforge.net/project/showfiles.php?group_id=78138&package_id=79216 SourceForge]
 +
# Install libusb-win32-filter-bin-0.1.12.1.exe by following the instructions
 +
# Download libusb-win32-device-bin-0.1.12.1.tar.gz from [http://sourceforge.net/project/showfiles.php?group_id=78138&package_id=79216 SourceForge]
 +
# Extract libusb-win32-device-bin-0.1.12.1.tar.gz using winrar or cygwin (tar -zxf)
 +
# Plug the USB cable to your computer and start the Lego NXT (it won't be recognized, just wait if you got the windows device wizrd
 +
# Start libusb-win32-device-bin-0.1.12.1/bin/inf-wizard
 +
# Select the device corresponding to the Lego NXT
 +
# Enter some information: name, etc.. (this is arbitrary)
 +
# inf-wizard will create a .cat, .ing, .PNF files
 +
# In the same directory where the generated files have been written copy the libusb0.dll and libusb0.sys (located in the libsb-win32-device-bin)
 +
# Using the Windows device wizard, select the .inf file generated
 +
# Go to 'Start Menu'->'Programs'->'LibUSB-Win32'->'Test Program', you should see the NXT device:
 +
 
 +
  bus-0/\\.\libusb0-0005--0x0694-0x0002    0694/0002
 +
  Serial Number: 00165304BDE2
 +
  wTotalLength:        32
 +
  bNumInterfaces:      1
 +
  bConfigurationValue:  1
 +
  iConfiguration:      0
 +
  bmAttributes:        c0h
 +
  MaxPower:            0
 +
    bInterfaceNumber:  0
 +
    bAlternateSetting:  0
 +
    bNumEndpoints:      2
 +
    bInterfaceClass:    255
 +
    bInterfaceSubClass: 255
 +
    bInterfaceProtocol: 255
 +
    iInterface:        0
 +
      bEndpointAddress: 01h
 +
      bmAttributes:    02h
 +
      wMaxPacketSize:  64
 +
      bInterval:        0
 +
      bRefresh:        0
 +
      bSynchAddress:    0
 +
      bEndpointAddress: 82h
 +
      bmAttributes:    02h
 +
      wMaxPacketSize:  64
 +
      bInterval:        0
 +
      bRefresh:        0
 +
      bSynchAddress:    0
 +
 
 +
= Contact information =
 
I would be more than happy to reply to any questions and comments emailed to dpace [at] bwh.harvard.edu.
 
I would be more than happy to reply to any questions and comments emailed to dpace [at] bwh.harvard.edu.

Latest revision as of 14:42, 25 June 2008

Home < LEGO IGT Compilation

NXT_USB is a C++ library used to control a LEGO Mindstorms NXT robot over a USB connection.

This code was modified from:

Linux Installation

Reqirements

  1. This code can be used only on a Linux distribution with root access. Remember to run any software utilizing this code as root.
  2. libusb: http://libusb.sourceforge.net/

Instructions

Download libusb from: 

 http://libusb.sourceforge.net (version 0.1.12)

Then run: 

 tar zxvf libusb-0.1.12.tar.gz
 cd libusb-0.1.12/
 ./configure CFLAGS=-funsigned-char --prefix=<your libusb directory> --exec-prefix=<your libsub directory>
 make
 make install

Then add the libusb directory to your $LD_LIBRARY_PATH variable. Note that the INSTALL.libusb file has information about the installation process.

Another alternative is to use CMake: 

 SET(CMAKE_CXX_FLAGS
   "-funsigned-char"
 )

 INCLUDE_DIRECTORIES(
   ...
   <your libusb directory (can be a relative path)>
 )

 ADD_LIBRARY(<your library name>
   ...
   NXT_USB.cxx
   NXT_USB_linux.cxx
 )

 FIND_LIBRARY(LIBUSB_LIB
   NAMES libusb-lib
   PATHS
    <your libusb directory (can be a relative path)>/lib
 )

 TARGET_LINK_LIBRARIES(Lego
   ...
   <your libusb directory (should be an absolute path)>/lib/libusb.so
 )

The simplest way to use this library is to keep the four NXT_USB files (NXT_USB.h, NXT_USB.cxx, NXT_USB_linux.h, and NXT_USB_linux.cxx) in the same directory as your program. Simply #include "NXT_USB.h" and compile as usual.

Windows Installation

The Windows installation of the NXT_USB requires the windows port of libusb using libusb-win32 open-source project.

  1. Go to SourceForge
  2. Install libusb-win32-filter-bin-0.1.12.1.exe by following the instructions
  3. Download libusb-win32-device-bin-0.1.12.1.tar.gz from SourceForge
  4. Extract libusb-win32-device-bin-0.1.12.1.tar.gz using winrar or cygwin (tar -zxf)
  5. Plug the USB cable to your computer and start the Lego NXT (it won't be recognized, just wait if you got the windows device wizrd
  6. Start libusb-win32-device-bin-0.1.12.1/bin/inf-wizard
  7. Select the device corresponding to the Lego NXT
  8. Enter some information: name, etc.. (this is arbitrary)
  9. inf-wizard will create a .cat, .ing, .PNF files
  10. In the same directory where the generated files have been written copy the libusb0.dll and libusb0.sys (located in the libsb-win32-device-bin)
  11. Using the Windows device wizard, select the .inf file generated
  12. Go to 'Start Menu'->'Programs'->'LibUSB-Win32'->'Test Program', you should see the NXT device:
 bus-0/\\.\libusb0-0005--0x0694-0x0002     0694/0002
 Serial Number: 00165304BDE2
 wTotalLength:         32
 bNumInterfaces:       1
 bConfigurationValue:  1
 iConfiguration:       0
 bmAttributes:         c0h
 MaxPower:             0
   bInterfaceNumber:   0
   bAlternateSetting:  0
   bNumEndpoints:      2
   bInterfaceClass:    255
   bInterfaceSubClass: 255
   bInterfaceProtocol: 255
   iInterface:         0
     bEndpointAddress: 01h
     bmAttributes:     02h
     wMaxPacketSize:   64
     bInterval:        0
     bRefresh:         0
     bSynchAddress:    0
     bEndpointAddress: 82h
     bmAttributes:     02h
     wMaxPacketSize:   64
     bInterval:        0
     bRefresh:         0
     bSynchAddress:    0

Contact information

I would be more than happy to reply to any questions and comments emailed to dpace [at] bwh.harvard.edu.

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