Complete guide to install LeJOS on Mac OS X 10.6

[jonasbg]

Here follows a complete guide to install LeJOS on Mac OS X 10.6

1. install the 'Mac OS 10.5 (Leopard) Firmware Fix' from here: http://mindstorms.lego.com/support/updates/
2. download LeJOS 0.85 from http://lejos.sourceforge.net
3. extract your zip file to where ever you want, personally I put it in my user library.

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/Users/yourusername/Library/

4. set up the correct parameters through terminal

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sudo pico ~/.bash_profile

in this window enter these variables

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cd /Users/yourusername/Library/lejos_nxj
LEJOS_HOME=`pwd`
NXJ_HOME="$LEJOS_HOME"
PATH="$LEJOS_HOME/bin:$PATH"
export LEJOS_HOME NXJ_HOME
export PATH

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CTRL+O

saves the document,

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CTRL+X

exits the pico program

You'll have to logout/reboot to get these variable to load, but you don't have to do this yet

5. Set the right permission for your LeJOS content

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chmod -R 755 ~/lejos_nxj/

6. "Install" the fantom USB driver

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pico /Users/yourusername/Library/lejos_nxj/bin/nxj.properties

Then enter this parameter:

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NXTCommUSB=lejos.pc.comm.NXTCommFantom

Make sure to have NO spaces between "=" and after the sentence!


7. If you have Snow Leopard go to
/Applications/Utilities/Java\ Preferences

and put your java 32 bit ahead of the 64 bit


Sorry about the language in these screenshots, but you should be able to understand it just by the icons

Try it out by typing while the brick is plugged in and turned on:

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nxjbrowse -u

Great thanks to:
http://tucsontechnics.blogspot.com/2009 ... river.html
viewtopic.php?t=1186&start=0
http://tucsontechnics.blogspot.com/2009 ... k-pro.html

And not to forget, my student advicor in Norway!

If I've forgot anything, please ask, but in my memory, this was all that I did to get this to work.


---------------------------------------------
To compile project enter

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nxjc myProject.java

To transfer the project to the NXT brick

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nxj myProject

remember, without any suffix

[jonasbg]

You might have to install developer tools from your Mac OS X dvd, or from developer.apple.com

[barberkost]

Awesome! Totally missed the part about 64/32 bit, have been struggling with this all afternoon.

You might also have to correct permissions on the folder.

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chmod -R 755 ~/lejos_nxj/bin

[jonasbg]

Awesome! Totally missed the part about 64/32 bit, have been struggling with this all afternoon.

You might also have to correct permissions on the folder.

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chmod -R 755 ~/lejos_nxj/bin

Aaah, essential! Just forgot about that

[Shawn]

Thanks for the tutorial!!!!!!!:P

6. "Install" the fantom USB driver

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pico /Users/yourusername/Library/lejos_nxj/bin/nxj.properties

Then enter this parameter:

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NXTCommUSB=lejos.pc.comm.NXTCommFantom

Make sure to have NO spaces between "=" and after the sentence!

From .85 step #6 isn't necessary. It's configured by default.

---------------------------------------------
To compile project enter

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nxjc myProject.java

To transfer the project to the NXT brick

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nxj myProject

remember, without any suffix

Also, if you want to use the pcapi (for programs that run on your computer and communiticate with the NXT brick):

To compile using the pc api enter

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nxjpcc myPcApiClass.java

To run the code to the NXT brick

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nxjpc myPcApiClass

remember, without any suffix

[jonasbg]

feedback on how to improve this guide is welcome

[alexlesuper]

For part 7, in Snow Leopard it's actually
/Applications/Utilities/Java\ Preferences

[n1maddin]

hey guys,

sorry I am complete newbie to this area. I tried everything to do as posted, but get

leJOS NXJ> Failed to load USB comms driver: Cannot load USB driver
leJOS NXJ> Failed to find any NXTs
No NXT found - is it switched on and plugged in (for USB)?

even though it is plugged in, and connected (the lego software can connect to it)

any ideas?

thx

[Shawn]

hey guys,
leJOS NXJ> Failed to load USB comms driver: Cannot load USB driver
leJOS NXJ> Failed to find any NXTs
No NXT found - is it switched on and plugged in (for USB)?

What version of LeJOS- 0.85? .8?
What version of OSX? PPC or intel?
What version of the mindstorms software you do have? 1.05? 1.02?

I tried everything to do as posted

Can you tell us what you did?

Actually you don't need this anymore - /Users/yourusername/Library/lejos_nxj/bin/nxj.properties It is a source of potential error so you may want to just remove it (assuming you are on LeJOS .85).

Finally, how are you starting your program. If it's from eclipse, you need to get the driver in the path. What happens if you try ./nxjbrowse from your /bin folder (on a command line).

Shawn

[n1maddin]

Hi,

I am using .85 with an Intel Mac.

The mindstorms software seems to be 2.0 ?! That is what it says when I klick on "About Lego Mindstorms NXT" in the application.

I am not using eclipse yet, I just use the terminal. This is the output I get when I type in ./nxjbrowse:


leJOS NXJ> Failed to load USB comms driver: Cannot load USB driver
leJOS NXJ> Searching for any NXT using Bluetooth inquiry
Native Library bluecove not available
leJOS NXJ> Search Failed: BlueCove library bluecove not available
leJOS NXJ> Failed to find any NXTs
No NXT found - is it switched on and plugged in (for USB)?

This how my /Users/martin/.bash_profile looks:

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cd /Users/martin/Library/lejos_nxj
LEJOS_HOME=`pwd`
NXJ_HOME="$LEJOS_HOME"
PATH="$LEJOS_HOME/bin:$PATH"
export LEJOS_HOME NXJ_HOME
export PATH


This is how /etc/profile looks like:

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# System-wide .profile for sh(1)

if [ -x /usr/libexec/path_helper ]; then
        eval `/usr/libexec/path_helper -s`
fi

if [ "${BASH-no}" != "no" ]; then
        [ -r /etc/bashrc ] && . /etc/bashrc
fi
     ## setloginpath added /usr/local/bin start at Fri Nov  2 18:44:47 EDT 2007
     ## Do not remove the previous line
     if [ `whoami` != "root" ]
     then
       export JAVA_HOME="/System/Library/Frameworks/JavaVM.framework/Versions/1.5.0/Home"
       export NXJ_HOME="/Users/martin/Library/lejos_nxj"
       export DYLD_LIBRARY_PATH="$NXJ_HOME/bin"
       PATH="$PATH:$NXJ_HOME/bin:$JAVA_HOME/bin"
       export PATH
     fi
     ## Do not remove the next line
     ## setloginpath added /usr/local/bin end at Fri Nov  2 18:44:47 EDT 2007
~     


any more you need to know?

many thanks for the help![/code]

[Shawn]

Hi,

I am using .85 with an Intel Mac.

The mindstorms software seems to be 2.0 ?!

I don't know if we have any lego 2.0 mac users. I used the most recent SDK from lego http://mindstorms.lego.com/Overview/nxtreme.aspx, so if there is a newer version that we need to build against, I don't have it.

Try this

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cat /Library/Frameworks/Fantom.framework/Resources/Info.plist

What version of the driver do you have. Mine says LEGO MINDSTORMS NXT Driver 1.1.1f0

leJOS NXJ> Failed to load USB comms driver: Cannot load USB driver

Did you switch Java to 32 bit for all applications?

[n1maddin]

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:lejos_nxj martin$ cat /Library/Frameworks/Fantom.framework/Resources/Info.plist
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
   <key>CFBundleDevelopmentRegion</key>
   <string>English</string>
   <key>CFBundleExecutable</key>
   <string>Fantom</string>
   <key>CFBundleIdentifier</key>
   <string>com.ni.framework.Fantom</string>
   <key>CFBundleInfoDictionaryVersion</key>
   <string>6.0</string>
   <key>CFBundleName</key>
   <string>Fantom</string>
   <key>CFBundleGetInfoString</key>
   <string>LEGO MINDSTORMS NXT Driver 1.1.1f0, Copyright (c) 2003-2007 National Instruments Corporation. All Rights Reserved.</string>
   <key>CFBundlePackageType</key>
   <string>FMWK</string>
   <key>CFBundleSignature</key>
   <string>????</string>
   <key>CFBundleShortVersionSring</key>
   <string>1.1.1</string>
   <key>CFBundleVersion</key>
   <string>f0</string>
</dict>
</plist>


I think I have the same as you. Yes, I have switched the order of the Jave SE to 32Bit infront of 64Bit under Java Preferences

But I still get the same error

[n1maddin]

ha... I did it

I had to set everything up just for my user in the /.profile file... for all users wouldnt work.

but, just one more problem:

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compile:
    [javac] Compiling 1 source file to /Users/martin/Documents/LEGO Creations/workspace/projects/samples/BlueStats
    [javac] /Users/martin/Documents/LEGO Creations/workspace/projects/samples/BlueStats/BlueStats.java:1: package lejos.nxt does not exist
    [javac] import lejos.nxt.*;
    [javac] ^
    [javac] /Users/martin/Documents/LEGO Creations/workspace/projects/samples/BlueStats/BlueStats.java:2: package lejos.nxt.comm does not exist
    [javac] import lejos.nxt.comm.*;
    [javac] ^
    [javac] /Users/martin/Documents/LEGO

 ..

cannot find symbol
    [javac] symbol  : variable LCD
    [javac] location: class BlueStats
    [javac]          LCD.refresh();         
    [javac]          ^
    [javac] 27 errors

BUILD FAILED
/Users/martin/Documents/LEGO Creations/workspace/projects/samples/BlueStats/build.xml:23: The following error occurred while executing this line:
/Users/martin/Documents/LEGO Creations/workspace/projects/samples/samplebuild.xml:25: Compile failed; see the compiler error output for details.

Total time: 1 second


any help?

[Shawn]

If you are not finding the jars when you build with ANT, there should be a samples.properties file that points to the jars you need. Have a look at it and make sure the paths are right.

[n1maddin]

Hey,

wow that got me a little further, I just hard-coded my path, now I have this problem:

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uploadandrun:
     [java] leJOS NXJ> Failed to load USB comms driver: Cannot load USB driver
     [java] leJOS NXJ> Searching for any NXT using Bluetooth inquiry
     [java] Native Library bluecove not available
     [java] leJOS NXJ> Search Failed: BlueCove library bluecove not available
     [java] leJOS NXJ> Failed to find any NXTs
     [java] leJOS NXJ> Failed to connect to any NXT
     [java] An error occurred: No NXT found - is it switched on and plugged in (for USB)?
BUILD SUCCESSFUL
Total time: 1 second


... I am really trying to get this two work since 2 days now, I am really getting desperate