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README.htm
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<div class=Section1>
<h1><span style='font-size:24.0pt'>Intellejos<o:p></o:p></span></h1>
<h1>Introduction </h1>
<p class=MsoNormal>The Intellejos system is based on <span class=SpellE>Intellego</span>,
a basic robot simulator designed for robotics researchers. The purpose of
Intellejos is to learn programming in Java using the <span class=SpellE>LeJOS</span>
(Lego Java Operating System) platform. It offers the possibility to quickly
test certain algorithms that will be used for Lego Mindstorms, without having
to build the full robot. This manual explains how to use Intellejos and implement
your own robots and worlds. Any questions or remarks can be sent to <a
href="mailto:[email protected]">[email protected]</a>. </p>
<h1>User Manual for Windows</h1>
<h3>Required software</h3>
<ul style='margin-top:0cm' type=disc>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>It
is necessary to have the Java Runtime Environment and Java Development Kit
installed. Please find the latest copy at <a href="http://java.sun.com/">http://java.sun.com</a>.
</li>
</ul>
<h3>Setting up Intellejos</h3>
<ul style='margin-top:0cm' type=disc>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>Download
a copy of Intellejos <a
href="http://www.kooijmans.nu/intellejos/intellejos.zip">here</a>.</li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>After
downloading the .zip file that contains a version of Intellejos, unzip it
to a preferred directory.</li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>Edit
the <span class=SpellE>setup.bat</span> file in the root directory of
Intellejos and change the INTELLEJOS_HOME and JAVA_HOME variables to point
to the correct paths. </li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>Run
the <span class=SpellE>build.bat</span> file to compile the software.</li>
</ul>
<h3>Running Intellejos</h3>
<ul style='margin-top:0cm' type=disc>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>After
setting up you can start Intellejos by running the <span class=SpellE>Intellejos.bat</span>
file.</li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>When
the Intellejos window appears you can open a simulation world by choosing pick
simworld in the control-menu.</li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>To
place <span class=GramE>a robot in the simworld choose</span> add robot
in the control-menu. Enter coordinates and bearing of the robot and choose
OK. The coordinates are relative to the upper-left corner of the window in
pixels. The robot will automatically start after loading it in the
simworld.</li>
</ul>
<h3>Building your own <span class=SpellE>simworlds</span></h3>
<ul style='margin-top:0cm' type=disc>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>Self-made
simworld classes can be added to the simworld directory of Intellejos.
You can make your own simworld classes by extending the <span
class=SpellE>BasicSimWorld</span> class. Adding objects of <span
class=SpellE>SimWall</span> and <span class=SpellE>SimPath</span> to
the class, as demonstrated in the enclosed examples, gives you the ability
to fill the simworld with walls and paths.</li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>After
programming the simworld run <span class=SpellE>build.bat</span> to
compile. </li>
</ul>
<h3>Programming the robot</h3>
<ul style='margin-top:0cm' type=disc>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>Write
a java program as you would normally do for Lego Mindstorms and place it
in the robots directory. An example robot is available in this
directory. The file with the public static void <span class=GramE>main(</span>String[]
<span class=SpellE>args</span>) method can be loaded into the simulator.
There are some differences however:</li>
<ul style='margin-top:0cm' type=circle>
<li class=MsoNormal style='mso-list:l3 level2 lfo3;tab-stops:list 72.0pt'>The
<span class=SpellE>LeJOS</span> packages that you need to control the
robot are modified and there is only a limited set of <span class=SpellE>LeJOS</span>
classes available in the simulator. You can find the API docs in the <span
class=SpellE>lejos</span>\docs directory of Intellejos. </li>
<li class=MsoNormal style='mso-list:l3 level2 lfo3;tab-stops:list 72.0pt'>While
you would normally import <span class=SpellE>josx.xxxx</span>.*, you
need to change <span class=SpellE>josx</span> to <span class=SpellE>lejos</span>
in the simulator. This is to prevent the simulator from using the wrong
packages.<span style='mso-spacerun:yes'> </span></li>
<li class=MsoNormal style='mso-list:l3 level2 lfo3;tab-stops:list 72.0pt'>Normally
a Lego Mindstorms robot will exit after the main method is finished. This
however, is not the same for an Intellejos robot, which will continue
running. </li>
</ul>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>After
programming your robot run <span class=SpellE>build.bat</span> to
compile. </li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'>When
loading the robot in Intellejos, the contents of the args.txt file in
the robots directory will be given as an argument to the main method of
the robot. </li>
</ul>
<h1>References</h1>
<ul style='margin-top:0cm' type=disc>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'><span
class=SpellE>LeJOS</span>: <a href="http://lejos.sourceforge.net/">http://lejos.sourceforge.net</a>
</li>
<li class=MsoNormal style='mso-list:l3 level1 lfo3;tab-stops:list 36.0pt'><span
class=SpellE>Intellego</span> robot emulator: <a
href="http://homepages.inf.ed.ac.uk/s0237680/intellego/intellego.html">http://homepages.inf.ed.ac.uk/s0237680/intellego/intellego.html</a></li>
</ul>
<h1><o:p> </o:p></h1>
<p class=MsoNormal>© 2004 Tijn Kooijmans</p>
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