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Using and modifying R/C servos Connecting robot motors to a computer, microcontroller, or other circuitry Controlling a LEGO robot using the Basic Stamp Controlling a LEGO robot using the OOPic microcontroller
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20, Working with Servo Motors 29, Interfacing with Computers and Microcontrollers 31, Using the Basic Stamp 33, Using the OOPic Microcontroller
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CREATING FUNCTIONOIDS WITH LEGO MINDSTORMS ROBOTICS INVENTION SYSTEM
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Say the word LEGO and most adults think of a million tiny plastic pieces strewn across
a floor, waiting to be stepped on with bare feet. Anyone who has ever had one of those little angle pieces jab into a tender arch or break the skin on a heel knows how painful owning a LEGO set can be! Still, apart from that occasional torture of walking over hard plastic, LEGO sets are wonderful amusements for both young and old. You can build most anything with LEGO parts. And with the help of your PC and the LEGO Mindstorms Robotics Invention System you can even create your own functionoids functional (and sometimes useful!) computer programmed robots. In this chapter, we ll look at the popular LEGO Mindstorms Robotics Invention System, discuss what it has to offer, and give you detailed information on how the Mindstorms system works. The LEGO Mindstorms Robotics Invention System comes with a detailed Constructapedia of practical robotic experiments. Moreover, other projects available on the LEGO Mindstorms Web page and indeed hundreds of other independent Web pages ensure that you ll have plenty to experiment with. Because of the wealth of printed project designs available, we won t get into the general use of the Mindstorms set in this chapter. Instead, we ll talk about the internals of the LEGO Mindstorms robot and how to hack it to extend its usefulness. Be sure to also check out 14, Programming the LEGO Mindstorms RCX: Advanced Methods, for additional details on programming the Mindstorms robot using third-party tools and utilities.
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162 CREATING FUNCTIONOIDS WITH LEGO MINDSTORMS ROBOTICS INVENTION SYSTEM
What Makes Up the Mindstorms System
The LEGO Mindstorms Robotics Invention System (RIS) consists of three major parts:
I The RCX (Robotic Command Explorer) controller. The RCX is otherwise known as a
brick or programmable brick. The term comes from robotics researchers at the Massachusetts Institute of Technology, who were the original developers of the concept behind the RCX. You can attach a collection of motors and sensors to the RCX and create a mobile automaton. Because the RCX uses standard LEGO bumps, you can attach regular LEGO parts to it and build your own robot. I The Mindstorms programming environment, otherwise known as RCX Code, allows you to create, store, and download programs from your personal computer and into the RCX. While the Mindstorms programming environment is the standard method for writing programs for the RCX, it is not the only one. 14 addresses two popular alternative programming environments for the LEGO RCX. I A two-way communications tower for transmitting signals between your computer and the RCX. The tower uses modulated infrared (IR) light rather than radio signals, so two or more RCX units can be programmed in the same room (you can adjust the power output of the IR tower to avoid interference).
A Look Inside the RCX
The LEGO Mindstorms RCX contains an Hitachi H8/3292 microcontroller, running at 16 MHz. Hitachi calls its product a single-chip microcomputer, but many others in the chip industry refer to such devices as microcontrollers. Microcontrollers are like miniature computers but are designed for embedded applications for controlling hardware. The main advantage microcontrollers have over full computers is that they are fairly inexpensive just a few dollars, as opposed to several hundred dollars. The H8 supports several memory types, including both ROM (read-only memory) and RAM (random access memory). It also comes with its own built-in timers three to be exact, though the RCX splits one of them to create a total of four. It also has eight 10-bit analog-to-digital converters. In all, it is a highly capable chip, which is one reason why the RCX can pack so many features in such a small package. (By the way, s 31 through 33 of this book deal with several off-the-shelf microcontrollers, including the venerable Basic Stamp, that you can use with your robot creations. Be sure to check these chapters out if you are interested in creating your own version of the LEGO RCX.) Figure 13.1 shows several different layers of the program instruction used in the RCX. At the bottom is a form of hardware BIOS (basic input/output system). This hardware level is a permanent part of the H8 processor and provides for very low-level functionality, including the downloading of programs. The hardware BIOS is stored in 16K bytes of ROM. It cannot be changed or erased.
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