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A project to learn Java and create software for Mindstorms Robots using hardware supported by EV3Dev & the LeJOS way.

Home Page: http://ev3dev-lang-java.github.io/

License: MIT License

Java 88.29% Dockerfile 0.03% XSLT 11.68%

ev3dev java lejos robotics ev3-robot ev3 pistorms brickpi robots mindstorms

ev3dev-lang-java's Introduction

ev3dev-lang-java

EV3Dev-lang-Java is project to learn Java and create software for Mindstorms Robots using hardware supported by EV3Dev & the LeJOS way.

How to test?

For non Linux computers use:

./gradlew dockerTest

For Linux computers use:

./gradlew test

Introduction

In Lego Mindstorms ecosystem, the default solution to develop Java software for Lego Mindstorms was LeJOS but now exists one alternative, EV3Dev-lang-java a Java project running on the top of EV3Dev.

Lego Mindstorms ecosystem is a nice educational way to learn Java programming in general and Robotics in particular. Now, it is possible to install a complete Linux distro in the third generation of the product and others companies like Mindsensors & Dexter Industries has released products which interact with Sensors & Actuators from Lego ecosystem and that boards can use the Power of the popular board Raspberry Pi 3

But, with the help of EV3Dev, it is possible to have the same Linux experience for multiple boards. So... why not develop a Java library for that Linux Distro? The answer is EV3Dev-lang-java. The project, takes the good things of both worlds: EV3Dev with the complete linux experience and LeJOS with the rich local navigation stack and the remote support in the future.

What Debian versions are supported with this library?

The library has support for Debian Jessie & Debian Stretch. In this release, we have finished the support for Debian Stretch for EV3 and you could use OpenJDK 11, or OpenJDK 15 and it is amazing!

If you need to use any Raspberry Pi Boards, I recommend to use the stable EV3Dev Debian Jessie release.

What is the hardware platforms supported in this project?

Using the same Java objects, it is possible to deploy the software for Robots on EV3 Brick, Raspberry Pi 3 with BrickPi 3 & PiStorms.

#	Element	EV3 P-Brick	Raspberry Pi 3 Model B+
1	Hardware	EV3 Brick	BrickPi+, BrickPi3, PiStorms
2	SoC	TI Sitara AM1808	Broadcom BCM2837B0
3	CPU	1× ARM926EJ-S @ 300MHz (max 456MHz)	4× ARM Cortex-A53 @ 1400MHz
4	RAM	64 MB LPDDR	1024 MB LPDDR2 (900 MHz)
5	USB Host	1× USB 1.1 (without onboard hub)	4× USB 2.0 (from onboard hub)
6	Year	2010	2018

Project architecture

The project has been designed with the following solution in mind:

#	Layer	Option 1	Option 2
1	Platforms	BrickPi BrickPi3 PiStorms	EV3
2	OS	Debian Jessie	Debian Jessie/Stretch
3	JVM	OpenJDK 15	OpenJDK JRI 11 / 12 / 13 / 14 / 15
4	EV3Dev Kernel	4.4.47-19-ev3dev-rpi2	4.14.71-ev3dev-2.3.0-ev3
5	ev3dev-lang-java	0.7.0	2.4.12

Note: At the moment, we will maintain the whole solution until the next LEGO Mindstorms product estimated for next January of 2022.

Features included in the whole project

Java features

OpenJDK Java 11/12/13/14/15 support for EV3 Brick, Brickpi+/PiStorms + Raspberry Pi 3
Java profiling tools Support (Oracle mission control & JConsole)
Logging support based on SLF4J
Centralized logs with Kibana

Platform features

Support for EV3 Brick, PiStorms v1/v2, BrickPi+ & BrickPi 3

Lego Mindstorms features

Regulated Motor Support
Unregulated Motor Support
Sensor Support (EV3 sensors)
Sounds Support
EV3 LCD Support

Robotics

Automatic installation of OpenCV
eSpeak TTS (Text to speech) Support
LeJOS Sensor filter Support
LeJOS local navigation stack Support
RPLidar A1/A2 (2D Lidar) Support

Subprojects

Stable projects:

OpenJDK for EV3: A custom OpenJDK JRI/JDK (9,10,11,12) build for EV3
EV3Dev-lang-java: Low level integration with EV3Dev
lejos-commons: LeJOS interfaces & utilities
Installer: A set of Bash scripts to automate some operations with your brick
Template project: A Gradle project ready to test the project
Examples: A repository with several examples about the usage of this project

Incubator projects:

lejos-navigation: LeJOS navigation stack
Usb Devices: A library to use Arduino, Grove Sensors, GPS, IMU, LIDAR, and more devices...
ROS: A library to publish Sensor data to ROS for SLAM purposes

Roadmap

Review the backlog to follow the features in course:

https://github.com/ev3dev-lang-java/ev3dev-lang-java/issues

Getting Started

Take a look the documentation to use the project:

http://ev3dev-lang-java.github.io/docs/support/index.html

and use this easy template project with examples to use the project in a quick way:

https://github.com/ev3dev-lang-java/template-project-gradle

Examples

Take a look the following repository to learn how to use this project:

https://github.com/ev3dev-lang-java/examples

Videos

UML Design

Architecture decision record (ADR)

References:

LeJOS: http://www.lejos.org/
LeJOS Git: http://sourceforge.net/p/lejos/ev3/code/ci/master/tree/
LeJOS Forum: https://lejos.sourceforge.io/forum/search.php?keywords=ev3dev&sid=8642d9d1b361bcfdcdeabb26db89e632
EV3Dev: http://www.ev3dev.org/
EV3Dev // Getting Started: http://www.ev3dev.org/docs/getting-started/
EVEDev // Linux Kernel Drivers: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-jessie/
Dexter Forum: http://forum.dexterindustries.com/search?q=java
AdoptOpenJDK CI: https://ci.adoptopenjdk.net/view/ev3dev/
OpenJDK: https://openjdk.java.net/

ev3dev-lang-java's People

Stargazers

Watchers

ev3dev-lang-java's Issues

EV3Dev JVM Benchmark

http://openjdk.java.net/projects/code-tools/jmh/
https://github.com/lessthanoptimal/Java-Matrix-Benchmark
https://github.com/OpenHFT/jvm-micro-benchmarks

[LeJOS] Add UnregulatedMotor

Add support for Unregulated Motors

Inital Analysis for LeJOS Packages

Initial support for EV3 Motor

echo reset > /sys/class/tacho-motor/motor0/command

Install Oracle Java 8 on EV3 Brick

root@ev3dev:/home# java -version
java version "1.7.0_75"
OpenJDK Runtime Environment (IcedTea 2.5.4) (7u75-2.5.4-2)
OpenJDK Zero VM (build 24.75-b04, mixed mode)

OpenCV for Java

http://stefanshacks.blogspot.com.es/2015/05/build-opencv-with-java-bindings-on_6.html

add Maven support for project

Once, autogen binding is running in a rudimentary way, it is necessary to add maven support.

Model initial UML Class diagrams

[LEJOS] Add filter package from lejos.robotics.filter

[LeJOS] Add RegulatedMotor Interface

This interface will be moved from lejos.robotics to ev3dev.hardware.motor

[LeJOS] Add Interface Encoder

Create the first example with Maven

Create a Maven example using a Repository

mvn archetype:generate -DgroupId=ev3dev.java.MyFirstRobot -DartifactId=MyFirstRobot -DarchetypeArtifactId=maven-archetype-quickstart -DinteractiveMode=false

Initial support for EV3 IR Sensor

Install Java on EV3Dev

http://www.ev3dev.org/docs/getting-started/

root@ev3dev:# apt-get update
root@ev3dev:# apt-get upgrade
root@ev3dev:~# apt-get dist-upgrade

[LeJOS] Add Interface Tachometer

Update README with goals of the project

Research about Java profiling tools for Debian.

the idea is the connection from Mac/Win/Linux to EV3Dev to monitor the execution of processes running in the JVM.

http://packages.ubuntu.com/precise/devel/visualvm
https://visualvm.java.net/

Check Java8

http://winterbe.com/

Research about Java interaction with sysfs

https://www.raspberrypi.org/forums/viewtopic.php?f=81&t=58998

Deploy with Maven

Develop a Class to interact with Sysfs

create Ant file to upload package generated by Maven to EV3Brick

[OpenCV] Grab image from Webcam

http://answers.opencv.org/question/46638/java-how-capture-webcam-and-show-it-in-a-jpanel-like-imshow/

[LeJOS] Add MotorPort

Support for EV3Dev leds

root@ev3dev:# echo 255 > /sys/class/leds/ev3-left0:red:ev3dev/brightness
root@ev3dev:# echo 0 > /sys/class/leds/ev3-left0:red:ev3dev/brightness

Create repo for Robotics libraries

It is necessary to create a library for robotics algorithms with independency of low level
https://github.com/jabrena/ev3dev-lang-java-robotics

Refactoring BaseSensor.java to connect with sysfs

Implement pending methods for current methods: TouchSensor, IRSensor & GyroSensor

Run Hello World Java on EV3Dev

public class HelloWorld {

    public static void main(String[] args) {
        // Prints "Hello, World" to the terminal window.
        System.out.println("Hello, World");
    }

}

root@ev3dev:/home# ls /sys/class/
backlight  graphics     lego-sensor   pwm           servo-motor  vc
bdi        hidraw       mem           rfkill        sound        video4linux
block      i2c-adapter  misc          rtc           spi_master   vtconsole
bluetooth  i2c-dev      mmc_host      scsi_device   tacho-motor  watchdog
dc-motor   input        mtd           scsi_disk     tty
dma        leds         net           scsi_generic  udc
gpio       lego-port    power_supply  scsi_host     usbmon
root@ev3dev:/home# ls /sys/class/power_supply/
legoev3-battery
root@ev3dev:/home# ls /sys/class/power_supply/legoev3-battery
charge_full_design  device   scope      technology  voltage_max_design
charge_now          power    status     type        voltage_min_design
current_now         present  subsystem  uevent      voltage_now
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_now
8042133
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_now
8042133
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_now
8042133
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_now
8042133
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_now
8042133
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_now
8042133
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_max_design 
7500000
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/voltage_min_design 
6200000
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/status
Discharging
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/current_now
162666
root@ev3dev:/home# cat /sys/class/power_supply/legoev3-battery/charge_now
2000000