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LEGO MindstormsHitachi H8-based RCX
brickB.A. Juliano, R.S. Renner, F. Jauregui
January 2004
California State University, ChicoIntelligent Systems Laboratory
Chico, CA 95929-0410http://isl.ecst.csuchico.edu
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LEGO Mindstorms
• http://mindstorms.lego.com
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Robotics Invention System 2.0
• RIS Kit
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Contents of Kit
• RCX™ Microcomputer• CD-ROM Software• Contructopedia™• 3 Guided Challenges• 6 Pro Challenges• USB Infrared Transmitter• 718 pieces, including:• 2 Motors• 2 Touch Sensors• 1 Light Sensor
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CompatibilityMinimum Requirements for your PC:
Operating System Windows® 98*
CPU Pentium II 233 MHz
RAM 32 MB
Available Hard Disk Space
115 MB
Mouse Windows® Compatible
SoundSound Blaster 16™ Windows® Compatible Sound
Device
CD-ROM Speed CD 8X
Video Display 800 X 600 SVGA with 4 MB RAM
Colors Colors 16 bit
Modem (optional) 28.8 KBPS
Internet Browser (optional)
Netscape® Navigator or Microsoft™ Internet Explorer
•Not compatible with Windows NT or Windows 2000 operating systems.
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RIS 2.0 RCX BrickAn autonomous LEGO microcomputer that can be programmed using a PC. The RCX serves as the brain of LEGO MINDSTORMS inventions.
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About the Brick
• LCD (Liquid Crystal Display)• Four buttons• One internal speaker• Three sensor inputs• Three actuator outputs• IR (Infrared) interface
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About the Brick
• 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
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Features
• Instruction set with 57 basic instructions, including:– Multiply and divide instructions– Powerful bit-manipulation
instructions
• High-speed operation– All frequently-used instructions
are executed in two to four states
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Software Architecture
• System ROM Layer• Low level control software • Interface to hardware• Second piece of software
– Firmware– Located in RCX ROM
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Firmware
• Can bypass system ROM software– Allows complete control of RCX
• Erased when power removed• In RCX RAM• Can use standard Firmware OR
– Can be replaced with others– birickOS
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Caution
• When changing batteries you may loose Firmware and all programs– Replace one at a time– Do within one minute
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Multi-Tasking
• Threading– Multiple things at one time
• Can create new threads to accomplish Multi-Tasking
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Put it All Together
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Hitachi H8/3292Microcontroller
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Hitachi H8/3292 diagram
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Hitachi H8/3292 package
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H8/300 CPU• 8-bit data
• 16-bit address space
• 8 X 16 bit registers (r0-r7)– R0 – function return– R7 – stack pointer
• 16 MHz clock
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H8/3292 Block Diagram
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RCX Memory Layout
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Input Devices
• 3 Sensors• 4 Buttons• Battery level monitor• Timers
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Light Sensor
•Two components•Light detector•Small light source
•Light turned on to find something close. Amplifies difference between light and dark.
•Great for line following
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Light Sensor cont.
• Highly sensitive to ambient light– Sunlight is the worst
• How to solve problem– Take two light sensor readings and
subtract the background light• Sensitive to objects reflective
surface.– Thus, difficult to measure distance.
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Light Sensor cont.
• Light measured as– 0% (total darkness) to– 100% (very bright).
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Light Sensor cont.
voltagemeasurement
light energy
electrical flow
voltagemeasurement
light energy
photo-transistor
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Uses for Light Sensor
• Navigation • Black on white• White on black
• Find light• Avoid light• Sort colors
• black Lego bricks• yellow Lego bricks.
• Input Device • colors or gray levels on paper.
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Touch Sensor
force voltagemeasurement
electrical flow
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Uses for Touch Sensor
• Detect contact • Wall detection• Internal contact
• Arm contact with internal parts
• Constant contact• Make sure bot does not fall off of a
table
• Input Device• Use as a push button
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Others
• You can buy or make you own sensors– Example: Temperature sensor– Search online– Lots of resources
http://www.plazaearth.com/usr/gasperi/lego.htm
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Temperature Sensor
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Temperature Sensor cont.
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Temperature Sensor cont.
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Temperature Sensor cont.
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Output Devices
• 3 Actuator Ports• 5-segment LCD• Speaker
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Bidirectional Device
• Infrared port
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LegoOS Network Protocol (LNP)
• Communication between brickOS and host computers
• If packets arrive– Free of corruption
• Collision problems