%T JCSPre: the Robot Edition To Control LEGO NXT Robots
%A Jon Kerridge, Alex Panayotopoulos, Patrick Lismore
%E Peter H. Welch, S. Stepney, F.A.C Polack, Frederick R. M. Barnes, Alistair A. McEwan, G. S. Stiles, Jan F. Broenink, Adam T. Sampson
%B Communicating Process Architectures 2008
%X JCSPre is a highly reduced version of the JCSP
(Communicating Sequential Processes for Java) parallel
programming environment. JCSPre has been implemented on a
LEGO Mindstorms NXT brick using the LeJOS Java runtime
environment. The LeJOS environment provides an abstraction
for the NXT Robot in terms of Sensors, Sensor Ports and
Motors, amongst others. In the implementation described
these abstractions have been converted into the equivalent
active component that is much easier to incorporate into a
parallel robot controller. Their use in a simple line
following robot is described, thereby demonstrating the ease
with which robot controllers can be built using parallel
programming principles. As a further demonstration we show
how the line following robot controls a slave robot by means
of Bluetooth communications.
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