Extreme Mindstorms

The sequel to Baum's best-selling and highly praised earlier book Dave Baum's Definitive Guide to Lego Mindstorms, this book is designed to take the experienced user of Mindstorms to the next level. Baum brought together a dream team of some of the best-known people in the Mindstorms community to create this book. Extreme Mindstorms is for LEGO MINDSTORMS enthusiasts of all ages who are interested in special projects and new programming methods that go beyond what is covered in Dave Baum's best selling book. Through the construction and programming of a demonstration robot, readers will learn advanced MINDSTORMS construction and programming techniques. Each author has written a section of the book based on that author's specialty. Dave Baum is the creator of NQC and Ralph Hempel is the creator of pbForth. Luis Villa has maintained an extensive collection of information on legOS, and Gasperi is the authority on constructing custom Mindstorms sensors. Although numer! ous projects are presented with simple systematic instructions, and though the topics covered are advanced, readers should be able to assemble the projects and understand how they work without any prior knowledge of electronics. - The authors are widely regarded as among the leading gurus for serious Mindstorms development. - Contains unique information available nowhere else on such topics as sensor development, pbForth, and legOS. - Provides advanced sample projects with simple step-by-step instructions.

Foreword viii
Chapter 1 Extreme MINDSTORMS 3
The Hackers Step In 4
MINDSTORMS Expands 6
RIS 2.0 8
An Extreme Future 8
Chapter 2 The RCX 11
Architecture 11
Hardware 14
Output Ports 16
Sensor Ports 18
LCD 25
Sound 26
Standard Firmware 27
Programming the RCX 29
Chapter 3 Seeker: A Light-Seeking Robot 31
Construction 31
Using the Bumper 36
Seeking a Light 41
Bumping and Seeking 44
More Explorations 51
Chapter 4 RCX 2.0 Firmware 53
Getting Started 53
Local Variables 56
Display 57
Arrays 60
Access Control 64
Events 68
Bits and Pieces 76
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 101
Conditionals and Bitwise Operators in pbForth 104
Basic RCX Sensors and Motors 107
Looping in pbForth 110
Using the Pushbuttons 111
Summary 117
Chapter 6 Programming Seeker in pbForth 119
Making Seeker Move 120
Displaying Motor States 122
Making Seeker See and Feel 130
Using the Timers 138
The Light Sensor and Thresholds 141
Summary 148
Chapter 7 Introduction to LegOS 151
So Why LegOS? 151
So What's the Catch? 152
So, How Does it Work? 152
Basic LegOS Functions 156
The LegOS Seeker 170
Conclusion 180
Chapter 8 Advanced LegOS 181
Rotation Sensors 181
Sound 183
Math in LegOS 186
LegOS Network Protocol (LNP) 187
LegOS Debugging 188
Trailerbot 189
Going Further with LegOS -"Use the Source, Luke!" 213
Chapter 9 Homebrew Passive Sensors 219
Getting Parts 219
Alligator Clip Quickie 220
Coin Detector 222
Cut Wire Connector 223
Stick-In-Ring Switch 224
Terminal Block Temperature Sensor 225
RCX Input 227
More Accurate Temperature Sensors 228
Waterproof Temperature Sensor 231
A Relative Humidity Sensor 232
50K Ohm Potentiometer Angle Sensor 234
Cut Electric Plate Connector 237
CdS Photocell Sensor 238
Galvanic Skin Response 240
Voltage Input Sensor 242
Battery Tester 243
A Tachometer 244
A Potpourri of Passive Sensors 245
Part Cross-reference List 246
Conclusion 247
Chapter 10 Homebrew Powered Sensors 249
Getting Parts and Tools 249
Getting Started 249
RCX Powered Interface 250
Sensor Power Circuit 250
Sensor Measurement Circuit 254
Optointerrupter Sensor 256
Buffer Circuit 258
Buffered Voltage Input 261
Amplifier Circuit 261
Amplified Voltage Input 263
Differential Light Sensor 263
Sound Sensor 266
Printed Circuit Board 271
Soldering 272
Packaging 277
Going Further 279
Bill of Materials for Powered Sensors 279
Conclusion 282
Appendix A Internet Resources 283
General Information 283
NQC 283
pbForth 284
LegOS 284
Homebrew Sensors 284
Suppliers 284
Appendix B NQC API Reference 287
Sensors 287
Outputs 289
Sound 290
Display 291
Communication 291
Timers and Counters 292
Access Control 293
Events 294
Miscellaneous 296
Special Features -RCX 296
Special Features -Scout 297
Special Features -CyberMaster 298
Appendix C Frequently Used Forth Words 299
Stack Words 300
Math Words 301
Logical Words 302
Conditional Words 303
Compiler and Memory Words 303
Control Structure Words 306
Input and Output Formatting Words 307
RCX Extension Words 308
Appendix D LegOS API Reference 317
LCD Functions 317
Motor Functions 318
Sensor Functions 318
Math Functions 319
Program Control 320
Time Control 320
Hardware Control 321
Music 321
Buttons 322
Semaphores 322
LNP functions 323
Standard C Library Functions 323
Appendix E Installing LegOS 325
LegOS Installation for Debian Linux 326
LegOS Installation for Red Hat Linux 327
LegOS Installation for Windows 329
Index 333