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Robotics Invention System 2.0 .
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Transcript of Robotics Invention System 2.0 .
Robotics Invention System 2.0
http://shop.lego.com/product.asp?p=3804
RCX Programming cycle
Program Mindstorm PC-side software, i.e. RCX code or Robolab
RCX code translates your code to “Bytecode”
Use IR tower between PC & RCX to put your program in RCX RAM
Firmware interprests bytecode to m/c code
RCX processor executes machine code
InfraRed receiver must face IR Tower
This is a sensor port, NOT a motor port.
Sensor ports
Motor ports
Logical Structure
RCX: The Robot’s Brain
What is sensing?
Why do robots need sensors?
PC side Software
Lego RCX codeRoboLabNQC (Not Quite C)Java APIs (Application Programming
Interfaces)It is a set of command libraries allow user to
use JVM-equipped computer to communicate with RCX using original firmware
Firmware
legOS (C/C++)pbForth (Forth)leJOS (LEGO Java OS)
Programming Legos with Java
http://www3.ltu.edu/~chung/os/Lego-leJOS.htm
HelloRCX
C:\>lejosfirmdlUse --help for options.Transferring "/Apps/lejos/bin/../bin/lejos.srec" to RCX...100%
C:\>
HelloRCX.java
import josx.platform.rcx.*;
public class HelloRCX { public static void main(String[] args) { Motor.A.forward(); Motor.C.forward();
try { Thread.sleep(2000); } catch (InterruptedException ie) {}
Motor.A.stop(); Motor.C.stop(); }}
Compilation
C:\>lejosc HelloRCX.java
C:\>
Running
C:\>set RCXTTY=COM2
C:\>lejos HelloRCX
C:\>
RCX
Transfer & run on RCX Use a PC-side emulator
Line Follower Robot
Line is darker than the floorRobot will follow the left border of
the line (e.g. it turna right to go toward the line, left to go away from line)
O/P port A, C to control wheel (motors)
O/P port B to ocntrol the arm
Main methd
Int floor, line;Task Main(){
initialize();Calibrate();Go_Straight();
While (true){Check_Bumper();Follow_Line();}
}
Programming concepts
MutlitaskingStep-By-Step event driven schemePriority
Java Programming Concepts
Threads and TimingMemory usage:
MinLCD, LCD, TextLCD Sound MinSound
Garbage Collection
Debugging
EmulatorLCD (5 c/c)Play SoundsleJOS displays uncaught exception