Robotic Musical Instruments with NXC

The website for NXC and Bricx Command Center:

http://bricxcc.sourceforge.net/

More Online Resources:

http://www.legoeducation.us/store/
http://www.ortop.org/NXT_Tutorial/

Overview of Bricx Command Center IDE:

Basic Bricx / NXC Commands:

Motor (Output) Commands:

OnFwd("ports", "pwr"); OnRev("ports", "pwr"); Off("ports"); OnFwdSync(“ports”, “pwr”, “turnpct”); RotateMotor(“ports”, “pwr”, “angle”);

Flow Commands:

Wait(4000);     (milliseconds) until (“condition”); repeat (“value”) {    “body” }

Task and Sub Commands:

Sub methodName() {     “body” } task main() {          “body” }

Structure of NXC Commands:

Process and Tutorial: Building Your Musical Instrument Links to Other Music and Robotic Instruments: Pitched Percussion Twinkle on BoomWhackers Musical Robot Links: Human-Robot Jazz Animusic "Pipe Dream" Asimo Robot Conductor Robotic Band Flash Piano - Frere Jacques Flash Piano - Twinkle Twinkle Little Star Flash Piano - Ode to Joy 1. Build your instrument: Work with the given instruments and your robotics kit. Try to have your robot play at least three pitches or three different non-pitched percussion instruments. 2. Getting Started with programming: Start Bricx Command Center Select “usb” and “NXT” Turn On Robot Plug Robot Into Computer Wait short time for computer to recognize Robot Click “OK” 3. Basic Motor commands Motor Commands: OnFwd("ports", "power"); OnRev("ports", "power"); OnFwd("ports", "power", "degrees"); OnRev("ports", "power", "degrees"); Wait("time); Off("ports"); Port Codes OUT_A = motor A OUT_B = motor B OUT_C = motor C OUT_BC = motors B and C OUT_ABC = motors A, B, and C power = range from 0 to 100. Sample Program to Play Pitch: Another Sample Program using Motor Rotations: 4.  Compile and Download! Save Your Program (File -> Save) Select “Compile->Compile” from menu bar. (Or “F5”) Turn On Robot Select Compile -> Download Wait for Beep Unplug Robot and Test! (Use Orange Button) Robot: Software -> My Files -> Your Program Select Program with Orange Button 5. How to create a "sub" to simplify programming. To play longer sequences of notes - group patterns together into subroutines ("subs"). Then you can call the subs in the "task main ()" method and reuse them in your programming. Here is a sample program to play a pitch 3 times using a "sub" 6. Using the Brick to play pitches. The brick can also play pitches. Here is a link to the pages in the NXC programming tutorial outlining how to play pitches with the brick. Playing pitches with NXT Brick using NXC.

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