Nxt file ide bad error

This works by just skipping the 2nd pin which is now an interrupt and replacing it with the 9th pin. There were also a couple code cleanups on the NXT side. Now whenever I pressed the touch sensor, I got a new random number from the Arduino. The full code is here. The manufacturers of this sensor have written firmware for the Arduino which uses a quaternion approach to calculate the three Euler angles based on the values provided from an accelerometer, gyroscope, and magnetometer on the sensor stick.

I downloaded and tweaked the sample code on that site and was able to see values of yaw, pitch and roll as the sensor was moved when hooked up to an Arduino UNO. When I tried to compile the same code for the Atmega 3. The RAM limitation for this chip is about kB. I turned off all serial communications. I pruned down the main loop, cutting out all but the timestamp check to only read new data every 20ms.

The relevant commit is here. I also made sure that the 9DOF could run off 3. An updated wiring diagram with the 9DOF is shown in Figure After figuring out that I had to send the yaw in degrees not radians-hence line , I was able to see a changing value on the NXT. Since the angles between sent could be negative but my algorithm didn't allow for negative numbers, I mapped the yaw value from So I recorded the values from the NXT as a function of real world angle.

The yaw values kept changing for about 10 seconds after the move was done before stabilizing. There was a trend at least for the first three measurements, but the last one was very weird and a bit disconcerting as shown in Figure Without being able to see the values being sent from the Atmega directly because I had turned off the serial communications functionality , I found myself in the dark about whether the values being read by the NXT were actually "good".

This necessitated a shift to the Atmega which has a larger maximum size for sketches. I made sure to carry the orientation markings of the three sensors onto the outside of the box for ease of calibration. The sensor and microprocessor were also securely mounted which prevented unwanted motion during the calibration process. I followed the calibration process directions to the best of my abilities.

Directions are posted here. It was fairly painless, although moving the sensor very slowly during the accelerometer portion of the calibration is tough to do patiently. That one was easy because you just let the sensor sit while the program integrates error.

I had to change the baud rate to for my computer, and also change the COM port before it synced up to the Arduino. So I compromised and covered most of the sphere before pressing space bar a lot to get the program to quit. I ran a series of simple tests where I rotated the cube in 90 degree increment, not super fast, every 5 seconds or so, until I had rotated four full turns and was back at the starting location. I pulled the yaw, pitch, and roll values from the Serial Window, entered them in Excel, and plotted the results.

This is a link to the Excel document used to generate the plots. The graphs are shown in Figures Unfortunately, this motion is not particularly helpful for a robot chassis it's the motion equivalent to a car that is rolling down a hill.

Figure 29 shows the schematic. It shows connections between items, but not the actual locations on the board. Figure 30 is the layout. Green shows pads where components will be soldered. Blue lines are called traces and will be electrical connections between components. The Eagle CAD had too many lines and so I ended up having to route six wires across the top of the board. These are shown in the layout above as yellow lines.

Figure 31 shows the same pictures as above but with the actual components removed so it is easier to see the traces. In addition, you can see the tool path here; it is the very thin lines around the blue traces. Program Downloads There are two kinds of program download links you will find on this site. If the program download looks like the following:. Your computer must be able to read zip files to read these.

Most newer computers can read and open zip files directly, and you will be able to see the files inside after downloading it and selecting "Open" when prompted for what to do with the file. On some computers, you may need to download and install an "unzip" utility many are available for free. On some systems, you may need to save the. Once you reach an NXT program file. Required Software The downloadable programs for the projects. If you are getting " Error " or " The program is broken.

It may be missing required files ", you are most likely trying to load an NXT 2. When the file is closed automatically, unused space inside the specified file is removed to maximize the free space on the device. It is important to use the FileClose command when the file is no longer needed to free unused resources. There is a limitation of 16 opened file handles read and write in the same thread at the same time.

Syntax [0x16] [0x00] [0x01] [0x80] [fileName. Byte 2: Command type- system command with a request for a response. Response should always be requested for this command. Byte 3: Command- file open read. Byte File name including its extension. The system is case insensitive. In case the name of the file is shorter than 15 characters, NULL terminator byte should be added to the end of the file name extension for each missing character.

Total file name characters, including the NULL terminators, should always be The reply message that is coming back looks like: [0x08] [0x00] [0x02] [0x80] [0x00 or error] [Handle id] [File size LSB] [ Byte 2: Command type- reply message Byte 3: Command that has requested for this reply. Byte 4: Command status- 0x00 for success or error number for failure. Byte 5: Handle id. The id of handle that has been requested to be opened.

Byte File size. The number of bytes that will be written to the file. LSB first.