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Since all computer languages can be reduced to a Turing machine, it doesn t matter much to the computer what language you actually use. However, nobody in their right mind is going to try to write a word processor in BF. Just because something can be done does not mean it should be done. There are many different programming languages to choose from, though not all of them are usable for all applications. When possible, you should pick a language that works well for the problem you are trying to solve.
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Different computer languages package their capabilities in different ways, trying to make a particular type of job easier. The Robotic Invention System language, RCXScript, has handy statements for robot control like Set Direction and On and Beep. These statements make it easy to drive your robot around. Other languages try to make it easy to create large applications (C , C#), or create programs that can run on many different computers (Java), or to make small, fast programs (Assembly, Forth). The language you program in is determined by the languages that you know, so it is good to be familiar with many different computer languages. Then you can pick the best one for a project instead of trying to shoehorn the one you know into doing all of your projects. Even on a computer as simple as the Mindstorms RCX controller, there are several language choices available. Many popular computer languages are based on the C programming language. So it is no surprise that there is a version of C for the RCX, running on Markus Noga s BrickOS which is, essentially, a new personality for the RCX. The object-oriented C, C , is also available on BrickOS. Dave Baum has a version of C called Not Quite C (NQC) that runs on the RCX brick as shipped by LEGO. Java runs on LeJos, and there is a form of Visual Basic that runs on SpiritOCX. Not to mention pbForth. There is no shortage of languages to learn. This chapter is just a teaser, touching on a few highlights, since there is not enough room to go into much depth. While some languages are definitely only suitable for certain types of tasks, the languages listed above are general in their application. Whether you use C , Java, or the Visual Basic interface may come down to which one suits your own personal style. If you find you are happy with the RCXCode visual language that comes with the kit, but would like to be able to do more with it, National Instruments has a souped-up visual language called RoboLab. This is sold through the educational branch of LEGO, Pitsco-Dacta. It is a dataflow language. In dataflow, you have statements or icons that represent actions. But instead of linking them together by order of execution, you link them together by the data that they pass to each other. Each statement executes when all of its inputs have the data they need, and when the statement is done it may send more data down a link to another statement. A third type of language, the logic languages, are declarative languages. They don t have statements that translate into actions at all. Instead, they define relationships in the form of mathematical or logical equations. Then, given a set of data, the language determines the best way to fulfill the
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relationships. Because many real-world applications require some verbs, the declarative languages can include hooks where actions are specified.
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One type of robot is the computer-numerically controlled (CNC) machine. These are computer-driven power tools that can cut, burn, punch, fold, and, if incorrectly programmed, mutilate your sheets and blocks of wood, steel, marble, cloth, and aluminum. CNC machines have their own control languages. Though there are many different forms of machine control language, one of the most common is the GM code. GM codes, and other CNC code systems, are not complete computer languages. They are not Turing complete and only support the most basic operations. The G codes are geometry codes that direct the machine to move its cutting head. For example: G00 G01 G02 G03 X X X X Y Y Y Y Z Z IJ IJ Move rapidly to position X,Y,Z Move at cutting speed to position X,Y,Z Cut a clockwise arc to position X,Y around center I,J Cut a counterclockwise arc
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The M codes are machine codes that control the operating state of the machine. For example: M00 M17 M18 M75 M85 Stop the machine Cutting torch on Cutting torch o Enable punching tool Disable punching tool
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Each machine will have its own unique set of geometry and machine codes depending on its abilities. The more advanced robot arms have more complicated codes.
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