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a floor, waiting to be stepped on with bare feet. Anyone who has ever had one of those little angle pieces jab into a tender arch or break the skin on a heel knows how painful owning a LEGO set can be! Still, apart from that occasional torture of walking over hard plastic, LEGO sets are wonderful amusements for both young and old. You can build most anything with LEGO parts. And with the help of your PC and the LEGO Mindstorms Robotics Invention System you can even create your own functionoids functional (and sometimes useful!) computer programmed robots. In this chapter, we ll look at the popular LEGO Mindstorms Robotics Invention System, discuss what it has to offer, and give you detailed information on how the Mindstorms system works. The LEGO Mindstorms Robotics Invention System comes with a detailed Constructapedia of practical robotic experiments. Moreover, other projects available on the LEGO Mindstorms Web page and indeed hundreds of other independent Web pages ensure that you ll have plenty to experiment with. Because of the wealth of printed project designs available, we won t get into the general use of the Mindstorms set in this chapter. Instead, we ll talk about the internals of the LEGO Mindstorms robot and how to hack it to extend its usefulness. Be sure to also check out 14, Programming the LEGO Mindstorms RCX: Advanced Methods, for additional details on programming the Mindstorms robot using third-party tools and utilities.

The LEGO Mindstorms Robotics Invention System (RIS) consists of three major parts:

Any number of bytes can be transferred between the master and the slave, depending upon the requirement, and it varies from device to device. But each byte has an acknowledge bit, thus each byte transfer requires nine clock cycles. The receiver must pull the SDA bit down to logic 0 during the acknowledge clock pulse (i.e., SDA is low when the acknowledge clock pulse is high). The AVR processor is not equipped with an integrated IIC port but can communicate with any IIC interface using ordinary port lines and suitable driver software. Besides, interfacing to many peripherals, the AVR can use IIC expanders to increase I/O capability with a minimum of port lines. Philips offers many such port expanders.

13:

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brick or programmable brick. The term comes from robotics researchers at the Massachusetts Institute of Technology, who were the original developers of the concept behind the RCX. You can attach a collection of motors and sensors to the RCX and create a mobile automaton. Because the RCX uses standard LEGO bumps, you can attach regular LEGO parts to it and build your own robot. I The Mindstorms programming environment, otherwise known as RCX Code, allows you to create, store, and download programs from your personal computer and into the RCX. While the Mindstorms programming environment is the standard method for writing programs for the RCX, it is not the only one. 14 addresses two popular alternative programming environments for the LEGO RCX. I A two-way communications tower for transmitting signals between your computer and the RCX. The tower uses modulated infrared (IR) light rather than radio signals, so two or more RCX units can be programmed in the same room (you can adjust the power output of the IR tower to avoid interference).

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