introduction to lego mindstorms n.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
Introduction to Lego Mindstorms PowerPoint Presentation
Download Presentation
Introduction to Lego Mindstorms

Loading in 2 Seconds...

play fullscreen
1 / 16

Introduction to Lego Mindstorms - PowerPoint PPT Presentation


  • 337 Views
  • Uploaded on

Introduction to Lego Mindstorms. LMICSE Workshop June 14 - 17, 2005 Alma College. The Lego Mindstorms Kit. The RCX (the brains) Two Geared Motors Two Touch Sensors One Light Sensor A USB IR Tower A CD-ROM The Constructopedia Lots of Lego Pieces!. RCX Brick and Standard

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Introduction to Lego Mindstorms' - Jims


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
introduction to lego mindstorms

Introduction to Lego Mindstorms

LMICSE Workshop

June 14 - 17, 2005

Alma College

the lego mindstorms kit
The Lego Mindstorms Kit
  • The RCX (the brains)
  • Two Geared Motors
  • Two Touch Sensors
  • One Light Sensor
  • A USB IR Tower
  • A CD-ROM
  • The Constructopedia
  • Lots of Lego Pieces!

RCX Brick and Standard

Sensors and Motors

a basic robot design
A Basic Robot Design
  • The Constructopedia is a building guide.
  • Shown at left is the basic Roverbot from the Constructopedia
    • A robust design
    • Allows attachment of any of
      • double bumper (shown)
      • wheel sets (shown)
      • single bumper
      • light sensor
      • tank like treads
    • A recommended design starting point

Basic Roverbot Configuration

the rcx itself 1
The RCX Itself (1)
  • Hitachi H8 series microcontroller
  • 8 bit CPU at 16 MHz
  • 32 KByte RAM
  • 16 KByte ROM for the BIOS
  • Serial I/O (input/output)
  • ADC (analog digital converter)
  • Built-in timers

RCX Brick

the rcx itself 2
The RCX Itself (2)
  • Liquid crystal display (LCD)
  • Four push buttons
  • One small internal speaker
  • Three sensor inputs
  • Three motor outputs
  • One infrared (IR) interface with a proprietary protocol
  • Requires 6 AA batteries

RCX Brick

actuators
Actuators
  • With Kit
    • Geared Motors
  • Available From Lego
    • High-speed Motors
    • Mini-motor
    • Light Brick
  • Available third party
    • Servo Motor/Servo Controller

Servo Controller w/ 2 Servo Motors

Ungeared and

Geared Motors

sensors basics
Sensors Basics
  • Mindstorms sensors come in two types
    • Active: RCX supplies power
      • Example: Light sensor (supplied with kit)
    • Passive: RCX just detects changes in resistance
      • Example: Touch sensor (supplied with kit)
sensors available from lego
Sensors Available from Lego
  • Touch
    • Passive
    • Supplied with Kit
  • Light
    • Active
    • Supplied with Kit
  • Rotation (Angle)
    • Active
    • Add-on

Touch, Light and Rotation Sensors

third party sensors 1
Third Party Sensors (1)
  • The sensor interface is well documented
  • Many sets of building instructions for sensors exist, for example see Michael Gasperi’s website
    • http://www.plazaearth.com/usr/gasperi/lego.htm
  • Two commercial suppliers we know of:
    • http://www.mindsensors.com
    • http://www.hitechnic.com
third party sensors 2
Third Party Sensors (2)
  • Sonar (Ultrasonic range)
    • Available both from Mindsensors and Hitechnic
  • Magnetic Compass Sensor
    • Available from Hitechnic
  • Active and Passive Multiplexor
    • Available from Mindsensors
  • And many others

Hitechnic Sonar

Mindsensors Active Multiplexor

Hitechnic Compass

software architecture
Software Architecture

Typical Software Architecture Levels

software architecture1
Software Architecture
  • System ROM Layer
    • Low Level Control Software
    • Allows a second piece of software - the firmware
    • Can be bypassed for direct control of the hardware
lego firmware
Lego Firmware
  • The Lego firmware provides an environment for the execution of programs on the RCX.
  • Must be downloaded (just once) before programming the RCX.
  • Other firmware solutions are available.
  • Lego Firmware v. 2.0 permits
    • 5 separate programs
    • 10 threads
    • 32 global variables
    • 16 local variables per thread
    • Broadcast IR protocol
alternative firmware
Alternative Firmware
  • Firmware replacements further push the limits of the RCX
  • Popular replacements are tied to alternative programming environments
  • Examples
    • LejOS (Java)
      • see http://lejos.sourceforge.net/
    • BrickOS (C/C++)
      • see http://brickos.sourceforge.net
    • RCXLisp (Lisp)
      • Part of the LMICSE project
      • See http://robotics.csc.villanova.edu/
programming the rcx
Programming the RCX
  • Mindstorms ships with its own iconic programming language, but this is a very limited language.
  • So others have developed for the RCX almost all the usual programming languages, including:
    • C
    • C++
    • Java
    • Ada
    • Lisp
    • Forth
    • Smalltalk
so what now
So What Now?

Let’s play

with

some Legos!