extensions [gogo]

globals [
  serial-port   ;; different on different operating systems
]

to setup
  ifelse length (gogo:ports) > 0
    [ set serial-port user-one-of "Select a port:" gogo:ports ]
    [ user-message "There is a problem with the connection. Check if the board is on, and if the cable is connected. Otherwise, try to quit NetLogo, power cycle the GoGo Board, and open NetLogo again. For more information on how to fix connection issues, refer to the NetLogo documentation or the info tab of this model"
      stop ]
  gogo:open serial-port
  repeat 5
  [ if not gogo:ping
    [ user-message "There is a problem with the connection. Check if the board is on, and if the cable is connected. Otherwise, try to quit NetLogo, power cycle the GoGo Board, and open NetLogo again. For more information on how to fix connection issues, refer to the NetLogo documentation or the info tab of this model"] ]
  gogo:talk-to-output-ports [ "a" "b" "c" "d"]
  set-current-plot "Sensors"
end

to test-connection
  carefully
  [ ifelse not gogo:ping
    [ user-message "There is a problem with the connection. Check if the board is on, and if the cable is connected. Otherwise, try to quit NetLogo, power cycle the GoGo Board, and open NetLogo again. For more information on how to fix connection issues, refer to the NetLogo documentation or the info tab of this model" ]
    [ user-message "GoGo Board connected and working!" ] ]
  [ user-message error-message 
    stop ]
  
end


; Public Domain:
; To the extent possible under law, Uri Wilensky has waived all
; copyright and related or neighboring rights to this model.
@#$#@#$#@
GRAPHICS-WINDOW
705
465
950
525
1
0
29.0
1
10
1
1
1
0
1
1
1
-1
1
0
0
0
0
0
ticks
30.0

BUTTON
10
30
135
75
NIL
setup
NIL
1
T
OBSERVER
NIL
S
NIL
NIL
1

MONITOR
565
25
636
70
sensor 1
gogo:sensor 1
0
1
11

MONITOR
645
25
716
70
sensor 2
gogo:sensor 2
0
1
11

MONITOR
566
77
637
122
sensor 3
gogo:sensor 3
0
1
11

MONITOR
645
78
716
123
sensor 4
gogo:sensor 4
0
1
11

MONITOR
566
132
637
177
sensor 5
gogo:sensor 5
0
1
11

MONITOR
647
131
718
176
sensor 6
gogo:sensor 6
0
1
11

MONITOR
566
187
637
232
sensor 7
gogo:sensor 7
0
1
11

MONITOR
647
188
718
233
sensor 8
gogo:sensor 8
0
1
11

PLOT
15
535
800
725
Sensors
NIL
NIL
0.0
10.0
0.0
1023.0
false
true
"" ""
PENS
"sensor 1" 1.0 0 -2674135 true "" "if plot-sensor-1\n[\nlet data-point-to-plot gogo:sensor 1\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"
"sensor 2" 1.0 0 -16777216 true "" "if plot-sensor-2\n[let data-point-to-plot gogo:sensor 2\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"
"sensor 3" 1.0 0 -955883 true "" "if plot-sensor-3\n[let data-point-to-plot gogo:sensor 3\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"
"sensor 4" 1.0 0 -6459832 true "" "if plot-sensor-4\n[let data-point-to-plot gogo:sensor 4\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"
"sensor 5" 1.0 0 -10899396 true "" "if plot-sensor-5\n[let data-point-to-plot gogo:sensor 5\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"
"sensor 6" 1.0 0 -5825686 true "" "if plot-sensor-6\n[let data-point-to-plot gogo:sensor 6\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"
"sensor 7" 1.0 0 -8630108 true "" "if plot-sensor-7\n[let data-point-to-plot gogo:sensor 7\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"
"sensor 8" 1.0 0 -13791810 true "" "if plot-sensor-8\n[let data-point-to-plot gogo:sensor 8\nif data-point-to-plot <= 1023 and data-point-to-plot >= 0\n   [ plot data-point-to-plot ]\nif refresh-rate = \"medium\" [wait 0.01]\nif refresh-rate = \"slow\" [wait 0.1]\n]"

BUTTON
10
405
140
438
NIL
update-plots
T
1
T
OBSERVER
NIL
P
NIL
NIL
1

BUTTON
145
405
275
438
NIL
clear-plot
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

TEXTBOX
567
1
717
19
Sensors
14
15.0
0

BUTTON
160
30
290
75
test connection
test-connection
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
10
100
112
133
a-on
gogo:talk-to-output-ports [ \"a\" ]\ngogo:output-port-on
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
10
138
112
171
a-off
gogo:talk-to-output-ports [ \"a\" ]\ngogo:output-port-off
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
10
177
112
210
a-thisway
gogo:talk-to-output-ports [ \"a\" ]\ngogo:output-port-thisway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
10
218
112
251
a-thatway
gogo:talk-to-output-ports [ \"a\" ]\ngogo:output-port-thatway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
10
256
112
289
a-reverse
gogo:talk-to-output-ports [ \"a\" ]\ngogo:output-port-reverse
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
10
335
112
368
set-a-power
gogo:talk-to-output-ports [ \"a\" ]\ngogo:set-output-port-power a-power
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

SLIDER
9
295
112
328
a-power
a-power
0
7
7
1
1
NIL
HORIZONTAL

BUTTON
119
100
221
133
b-on
gogo:talk-to-output-ports [ \"b\" ]\ngogo:output-port-on
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
119
138
221
171
b-off
gogo:talk-to-output-ports [ \"b\" ]\ngogo:output-port-off
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
119
177
221
210
b-thisway
gogo:talk-to-output-ports [ \"b\" ]\ngogo:output-port-thisway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
119
218
221
251
b-thatway
gogo:talk-to-output-ports [ \"b\" ]\ngogo:output-port-thatway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
119
256
221
289
b-reverse
gogo:talk-to-output-ports [ \"b\" ]\ngogo:output-port-reverse
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
119
335
221
368
set-b-power
gogo:talk-to-output-ports [ \"b\" ]\ngogo:set-output-port-power b-power
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

SLIDER
119
295
221
328
b-power
b-power
0
7
7
1
1
NIL
HORIZONTAL

BUTTON
229
100
331
133
c-on
gogo:talk-to-output-ports [ \"c\" ]\ngogo:output-port-on
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
229
138
331
171
c-off
gogo:talk-to-output-ports [ \"c\" ]\ngogo:output-port-off
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
229
177
331
210
c-thisway
gogo:talk-to-output-ports [ \"c\" ]\ngogo:output-port-thisway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
229
218
331
251
c-thatway
gogo:talk-to-output-ports [ \"c\" ]\ngogo:output-port-thatway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
229
256
331
289
c-reverse
gogo:talk-to-output-ports [ \"c\" ]\ngogo:output-port-reverse
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
229
335
331
368
set-c-power
gogo:talk-to-output-ports [ \"c\" ]\ngogo:set-output-port-power c-power
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

SLIDER
229
295
331
328
c-power
c-power
0
7
7
1
1
NIL
HORIZONTAL

BUTTON
339
100
441
133
d-on
gogo:talk-to-output-ports [ \"d\" ]\ngogo:output-port-on
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
339
138
441
171
d-off
gogo:talk-to-output-ports [ \"d\" ]\ngogo:output-port-off
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
339
177
441
210
d-thisway
gogo:talk-to-output-ports [ \"d\" ]\ngogo:output-port-thisway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
339
218
441
251
d-thatway
gogo:talk-to-output-ports [ \"d\" ]\ngogo:output-port-thatway
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
339
256
441
289
d-reverse
gogo:talk-to-output-ports [ \"d\" ]\ngogo:output-port-reverse
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

BUTTON
339
335
441
368
set-d-power
gogo:talk-to-output-ports [ \"d\" ]\ngogo:set-output-port-power d-power
NIL
1
T
OBSERVER
NIL
NIL
NIL
NIL
1

SLIDER
339
295
441
328
d-power
d-power
0
7
7
1
1
NIL
HORIZONTAL

TEXTBOX
10
75
160
95
Output Port Controls
14
15.0
0

CHOOSER
285
390
423
435
refresh-rate
refresh-rate
"fast" "medium" "slow"
1

SWITCH
10
445
140
478
plot-sensor-1
plot-sensor-1
0
1
-1000

SWITCH
10
485
140
518
plot-sensor-2
plot-sensor-2
1
1
-1000

SWITCH
145
445
275
478
plot-sensor-3
plot-sensor-3
1
1
-1000

SWITCH
145
485
275
518
plot-sensor-4
plot-sensor-4
1
1
-1000

TEXTBOX
10
375
160
393
Plotting
14
15.0
1

SWITCH
285
445
415
478
plot-sensor-5
plot-sensor-5
1
1
-1000

SWITCH
285
485
415
518
plot-sensor-6
plot-sensor-6
1
1
-1000

SWITCH
425
445
555
478
plot-sensor-7
plot-sensor-7
1
1
-1000

SWITCH
425
485
555
518
plot-sensor-8
plot-sensor-8
1
1
-1000

TEXTBOX
565
280
780
485
Check if the USB cable is connected to the computer and to the GoGo Board, and if you have installed the USB-Serial drivers. Most connection problems are solved by:\n(1) Closing NetLogo.\n(2) Turning the GoGo Board off.\n(3) Waiting 5 seconds.\n(4) Turning the board back on.\n(5) Waiting 5 seconds.\n(6) Opening NetLogo again.\n\nRefer to the NetLogo documentation for more information.  
11
0.0
1

TEXTBOX
565
240
775
276
If you cannot connect to the GoGo Board:
14
15.0
1

MONITOR
315
30
440
75
Connected to:
serial-port
17
1
11

TEXTBOX
10
0
170
20
Initialize & test
14
15.0
1

TEXTBOX
130
10
495
28
note: pressing \"setup\" twice on Mac OS X may cause a crash
11
0.0
1

@#$#@#$#@
## WHAT IS IT?

This model communicates with the sensors and output ports of a [GoGo Board](http://www.gogoboard.org), an open source, easy-to-build, low cost, general purpose circuit board designed for educational projects.

This model helps you test your connection to your GoGo Board, and serves as a starting point for building NetLogo activities that interact with the physical world. For a simpler version of this model, try the GoGoMonitorSimple.

## HOW IT WORKS

The GoGo Extension for NetLogo provides primitives for communicating with a Gogo Board
connected to your computer's USB or serial port. You can get information from sensors and control motors, LEDs, light, and relays.

## HOW TO USE IT

Connect a GoGo Board to your computer's serial or USB port (depending on the version of the board you have). Then connect sensors, motors, LEDs, relays, and lights to the board.

Press SETUP to begin communicating with the GoGo board.  When prompted, enter the name of the serial port that is connected to your board (should be the first one you see on the drop-down list). The port should be automatically detected, but if you are not sure, go to the Control Panel -> System -> Device Manager (Windows) or to the System Preferences (Mac).

Press TEST CONNECTION to check if NetLogo is communicating with your GoGo Board.

The sensor monitors -- SENSOR 1 through SENSOR 8 -- show the value of each of the sensors on the GoGo Board.

The output port controls let you control the motors and lights connected to the four available output ports of your GoGo board: A, B, C, and D. In the following examples, we use output port "A."

A-ON turns the output port(s) on.

A-OFF turns the output port(s) off.

A-THISWAY/THATWAY control the direction of current to the output port(s).  If a motor is connected to the output port, this determines the direction of motion.

A-REVERSE-DIRECTION reverses the direction of current to the output port(s). For motors, it will make it turn the other way. For LEDs, it will make the LED turn on or off (if the ports was turned on previously) because LEDs are polarized.

To change the amount of current going to the output port(s), set the A-POWER slider, then press the SET-A-POWER button.

The same applies to the other output ports B, C, and D.

To plot sensor values, first choose which ones you want to plot using the switches, and start the UPDATE-PLOTS forever button.  At any time, you can clear the plot with the CLEAR PLOT button.  Changing the REFRESH RATE chooser adds small delay between each data point, effectively decreasing the sampling rate.  The "FAST" mode adds no delay (resulting in 500 Hz on a fast computer), the "MEDIUM" mode adds 0.01 seconds of delay (resulting in approximately 80 Hz), and the "SLOW" mode adds 0.1 second between each measure (approximately 10 Hz). A high refresh rate ("FAST" mode) is better for data that change very quickly, but it is prone to have more noise and result in a huge data set. Slow refresh rates will result in a smoother line, but you might miss some data in between recorded data points. To export the data in your plot, right-click (on Macs, control-click) on the plot and choose "Export...".

## THINGS TO TRY

Try connecting different sensors to the GoGo Board: temperature sensors, light sensors, pressure sensors, etc.

Connect various motors, lights, and other circuits to the GoGo Board's output ports.

Change the refresh rates by editing the code in the plot, and modifying the wait time (default value is 0.01 or 0.1, higher values would cause the sampling rate to decrease).
  
To find out where to buy sensors and motors, go to the [GoGo Board website](http://www.gogoboard.org).

## EXTENDING THE MODEL

Add filters and normalization to the sensor data.
Using a light sensor, make a turtle move forward when it's dark, and stop when there is light.
Create animations that are controlled by sensors
Create Bifocal Models (see [bifocal modeling](http://tltl.stanford.edu/projects/bifocal-modeling))

## NETLOGO FEATURES

This model uses the NetLogo GoGo Extension. For more information, see the GoGo Extension section of the NetLogo User Manual.

## CREDITS AND REFERENCES

To learn about GoGo Boards, see http://www.gogoboard.org.

This model was created by Paulo Blikstein at Stanford's [Transformative Learning Technologies Lab](http://tltl.stanford.edu).
@#$#@#$#@
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airplane
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Polygon -7500403 true true 150 0 135 15 120 60 120 105 15 165 15 195 120 180 135 240 105 270 120 285 150 270 180 285 210 270 165 240 180 180 285 195 285 165 180 105 180 60 165 15

arrow
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box
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Polygon -7500403 true true 150 135 15 75 150 15 285 75
Polygon -7500403 true true 15 75 15 225 150 285 150 135
Line -16777216 false 150 285 150 135
Line -16777216 false 150 135 15 75
Line -16777216 false 150 135 285 75

bug
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Circle -7500403 true true 96 182 108
Circle -7500403 true true 110 127 80
Circle -7500403 true true 110 75 80
Line -7500403 true 150 100 80 30
Line -7500403 true 150 100 220 30

butterfly
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Polygon -7500403 true true 150 165 89 198 75 225 75 255 105 270 135 255 150 240
Polygon -7500403 true true 139 148 100 105 55 90 25 90 10 105 10 135 25 180 40 195 85 194 139 163
Polygon -7500403 true true 162 150 200 105 245 90 275 90 290 105 290 135 275 180 260 195 215 195 162 165
Polygon -16777216 true false 150 255 135 225 120 150 135 120 150 105 165 120 180 150 165 225
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Circle -16777216 true false 30 180 90
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Circle -7500403 true true 195 195 58

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cow
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cylinder
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dot
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face happy
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Circle -16777216 true false 180 75 60
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face neutral
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face sad
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Circle -16777216 true false 180 75 60
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Circle -16777216 true false 215 106 30

flag
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Line -7500403 true 75 45 90 45

flower
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Circle -7500403 true true 130 147 38
Circle -7500403 true true 192 85 38
Circle -7500403 true true 85 40 38
Circle -7500403 true true 177 40 38
Circle -7500403 true true 177 132 38
Circle -7500403 true true 70 85 38
Circle -7500403 true true 130 25 38
Circle -7500403 true true 96 51 108
Circle -16777216 true false 113 68 74
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house
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leaf
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Polygon -7500403 true true 135 195 135 240 120 255 105 255 105 285 135 285 165 240 165 195

line
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line half
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pentagon
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Polygon -7500403 true true 150 15 15 120 60 285 240 285 285 120

person
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Polygon -7500403 true true 105 90 120 195 90 285 105 300 135 300 150 225 165 300 195 300 210 285 180 195 195 90
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Polygon -7500403 true true 105 90 60 150 75 180 135 105

plant
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Polygon -7500403 true true 165 180 165 210 225 180 255 120 210 135
Polygon -7500403 true true 135 105 90 60 45 45 75 105 135 135
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square
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Rectangle -7500403 true true 30 30 270 270
Rectangle -16777216 true false 60 60 240 240

star
false
0
Polygon -7500403 true true 151 1 185 108 298 108 207 175 242 282 151 216 59 282 94 175 3 108 116 108

target
false
0
Circle -7500403 true true 0 0 300
Circle -16777216 true false 30 30 240
Circle -7500403 true true 60 60 180
Circle -16777216 true false 90 90 120
Circle -7500403 true true 120 120 60

tree
false
0
Circle -7500403 true true 118 3 94
Rectangle -6459832 true false 120 195 180 300
Circle -7500403 true true 65 21 108
Circle -7500403 true true 116 41 127
Circle -7500403 true true 45 90 120
Circle -7500403 true true 104 74 152

triangle
false
0
Polygon -7500403 true true 150 30 15 255 285 255

triangle 2
false
0
Polygon -7500403 true true 150 30 15 255 285 255
Polygon -16777216 true false 151 99 225 223 75 224

truck
false
0
Rectangle -7500403 true true 4 45 195 187
Polygon -7500403 true true 296 193 296 150 259 134 244 104 208 104 207 194
Rectangle -1 true false 195 60 195 105
Polygon -16777216 true false 238 112 252 141 219 141 218 112
Circle -16777216 true false 234 174 42
Rectangle -7500403 true true 181 185 214 194
Circle -16777216 true false 144 174 42
Circle -16777216 true false 24 174 42
Circle -7500403 false true 24 174 42
Circle -7500403 false true 144 174 42
Circle -7500403 false true 234 174 42

turtle
true
0
Polygon -10899396 true false 215 204 240 233 246 254 228 266 215 252 193 210
Polygon -10899396 true false 195 90 225 75 245 75 260 89 269 108 261 124 240 105 225 105 210 105
Polygon -10899396 true false 105 90 75 75 55 75 40 89 31 108 39 124 60 105 75 105 90 105
Polygon -10899396 true false 132 85 134 64 107 51 108 17 150 2 192 18 192 52 169 65 172 87
Polygon -10899396 true false 85 204 60 233 54 254 72 266 85 252 107 210
Polygon -7500403 true true 119 75 179 75 209 101 224 135 220 225 175 261 128 261 81 224 74 135 88 99

wheel
false
0
Circle -7500403 true true 3 3 294
Circle -16777216 true false 30 30 240
Line -7500403 true 150 285 150 15
Line -7500403 true 15 150 285 150
Circle -7500403 true true 120 120 60
Line -7500403 true 216 40 79 269
Line -7500403 true 40 84 269 221
Line -7500403 true 40 216 269 79
Line -7500403 true 84 40 221 269

x
false
0
Polygon -7500403 true true 270 75 225 30 30 225 75 270
Polygon -7500403 true true 30 75 75 30 270 225 225 270

@#$#@#$#@
NetLogo 5.1.0
@#$#@#$#@
need-to-manually-make-preview-for-this-model
@#$#@#$#@
@#$#@#$#@
@#$#@#$#@
@#$#@#$#@
default
0.0
-0.2 0 0.0 1.0
0.0 1 1.0 0.0
0.2 0 0.0 1.0
link direction
true
0
Line -7500403 true 150 150 90 180
Line -7500403 true 150 150 210 180

@#$#@#$#@
1
@#$#@#$#@