Extreme MINDSTORMS TM : An Advanced Guide to LEGO MINDSTORMS TM

Transcription

1 IURQWIP3DJHL:HGQHVGD\2 WREHU30 Extreme MINDSTORMS TM : An Advanced Guide to LEGO MINDSTORMS TM DAVE BAUM, MICHAEL GASPERI, RALPH HEMPEL, AND LUIS VILLA

2 IURQWIP3DJHLL:HGQHVGD\2 WREHU30 Extreme MINDSTORMS TM : An Advanced Guide to LEGO MINDSTORMS TM Copyright 2000 by Dave Baum, Michael Gasperi, Ralph Hempel, and Luis Villa All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or by any information storage or retrieval system, without the prior written permission of the copyright owner and the publisher. ISBN (pbk): Printed and bound in the United States of America Trademarked names may appear in this book. Rather than use a trademark symbol with every occurrence of a trademarked name, we use the names only in an editorial fashion and to the benefit of the trademark owner, with no intention of infringement of the trademark. Editorial Directors: Dan Appleman, Gary Cornell, Karen Watterson Technical Reviewers: Dave Baum, Rodd Zurcher Projects Manager: Grace Wong Developmental Editor and Indexer: Valerie Perry Copy Editor: Kiersten Burke Production Editor: Janet Vail Page Composition and water braiding: Susan Glinert Artist and Cover and Part Opener Designer: Karl Miyajima Distributed to the book trade in the United States by Springer-Verlag New York, Inc.,175 Fifth Avenue, New York, NY, and outside the United States by Springer-Verlag GmbH & Co. KG, Tiergartenstr. 17, Heidelberg, Germany In the United States, phone SPRINGER; orders@springer-ny.com; Outside the United States, contact orders@springer.de; fax For information on translations, please contact Apress directly at 901 Grayson Street, Suite 204, Berkeley, CA, Phone: ; Fax: ; info@apress.com; The information in this book is distributed on an as is basis, without warranty. Although every precaution has been taken in the preparation of this work, neither the authors nor Apress shall have any liability to any person or entity with respect to any loss or damage caused or alleged to be caused directly or indirectly by the information contained in this work.

3 IURQWIP3DJHLLL:HGQHVGD\2 WREHU30 Foreword... viii Chapter 1 Extreme MINDSTORMS... 3 The Hackers Step In... 4 MINDSTORMS Expands... 6 RIS An Extreme Future... 8 Chapter 2 The RCX Architecture Hardware Output Ports Sensor Ports LCD Sound Standard Firmware Programming the RCX Chapter 3 Seeker: A Light-Seeking Robot Construction Using the Bumper Seeking a Light Bumping and Seeking More Explorations Chapter 4 RCX 2.0 Firmware Getting Started Local Variables Display Arrays Access Control Events Bits and Pieces iii

4 IURQWIP3DJHLY:HGQHVGD\2 WREHU30 Chapter 5 Introduction to pbforth...79 pbforth Is Interactive...79 pbforth Is Interpreted...80 pbforth Is Extensible...80 Why Learn pbforth?...80 Why Learn about RCX Details?...81 Installing pbforth...83 pbforth Fundamentals...85 RCX Basics and Generating Output...89 Numbers and Expressions...95 Defining New Words for pbforth Conditionals and Bitwise Operators in pbforth Basic RCX Sensors and Motors Looping in pbforth Using the Pushbuttons Summary Chapter 6 Programming Seeker in pbforth Making Seeker Move Displaying Motor States Making Seeker See and Feel Using the Timers The Light Sensor and Thresholds Summary Chapter 7 Introduction to LegOS So Why LegOS? So What s the Catch? So, How Does it Work? Basic LegOS Functions The LegOS Seeker Conclusion Chapter 8 Advanced LegOS Rotation Sensors Sound Math in LegOS LegOS Network Protocol (LNP) LegOS Debugging iv

5 IURQWIP3DJHY:HGQHVGD\2 WREHU30 Trailerbot Going Further with LegOS Use the Source, Luke! Chapter 9 Homebrew Passive Sensors Getting Parts Alligator Clip Quickie Coin Detector Cut Wire Connector Stick-In-Ring Switch Terminal Block Temperature Sensor RCX Input More Accurate Temperature Sensors Waterproof Temperature Sensor A Relative Humidity Sensor K Ohm Potentiometer Angle Sensor Cut Electric Plate Connector CdS Photocell Sensor Galvanic Skin Response Voltage Input Sensor Battery Tester A Tachometer A Potpourri of Passive Sensors Part Cross-reference List Conclusion Chapter 10 Homebrew Powered Sensors Getting Parts and Tools Getting Started RCX Powered Interface Sensor Power Circuit Sensor Measurement Circuit Optointerrupter Sensor Buffer Circuit Buffered Voltage Input Amplifier Circuit Amplified Voltage Input Differential Light Sensor Sound Sensor Printed Circuit Board Soldering Packaging v

6 IURQWIP3DJHYL:HGQHVGD\2 WREHU30 Going Further Bill of Materials for Powered Sensors Conclusion Appendix A Internet Resources General Information NQC pbforth LegOS Homebrew Sensors Suppliers Appendix B NQC API Reference Sensors Outputs Sound Display Communication Timers and Counters Access Control Events Miscellaneous Special Features RCX Special Features Scout Special Features CyberMaster Appendix C Frequently Used Forth Words Stack Words Math Words Logical Words Conditional Words Compiler and Memory Words Control Structure Words Input and Output Formatting Words RCX Extension Words vi Appendix D LegOS API Reference LCD Functions Motor Functions...318

7 IURQWIP3DJHYLL:HGQHVGD\2 WREHU30 Sensor Functions Math Functions Program Control Time Control Hardware Control Music Buttons Semaphores LNP functions Standard C Library Functions Appendix E Installing LegOS LegOS Installation for Debian Linux LegOS Installation for Red Hat Linux LegOS Installation for Windows Index vii

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