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Code for WebRover1 project
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Code for WebRover1 project, part of International Space Apps Challenge 2013

Project page:

Set up

  1. Download Grails 2.2.1 and unzip somewhere suitable

  2. Download leJOS and put somewhere suitable

  3. If using Mountain Lion, download old Bluetooth driver and unzip

  4. Set up environment variables

export GRAILS_HOME=~/springsource/grails-2.2.1 export NXJ_HOME=~/legorovers/leJOS_NXJ_0.9.1beta-3 export DYLD_LIBRARY_PATH=~/legorovers/WW_MountainLion export PATH=$PATH:$NXJ_HOME/bin:$GRAILS_HOME/bin export CLASSPATH=$NXJ_HOME/lib/pc/pccomm.jar:$NXJ_HOME/lib/pc/3rdparty/bluecove.jar export JAVA_OPTS="-d32 -Dnxj.home=$NXJ_HOME"

  1. Install leJOS on NXT brick (this was already done -- or see readme!)

  2. Pair Bluetooth Bluetooth - Set Up Bluetooth Device... Find it in list Set Passcode Preferences... 1234

  3. Configure robot details in grails-app/conf/Config.groovy

  4. Run Grails App

cd lejos-server grails run-app

(or -Dgrails.env=claudia run-app)

  1. Access from browser


  1. Assumes motors in A and C, sensor in 1 (optional)


duration:'integer, milliseconds',


Added Android camera running IP Webcam (address hardwired into HTML page at the moment)

UI Sketches

Main drive screen

  1. Web cam feed at the top (if we do a webcam feed)
  2. D-Pad controller touch area below. User swipes (or click/touch) to tell robot which direction to drive in
  3. Underneath drive controls, set command delay in seconds
  4. Under that, buttons to set other options and build your own autonomous rules Main drive screen

Rule builder

Easy rule builder, adapting Tiago Jesus original desktop interface for smaller, mobile devices

Rule builder

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