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in the past, robotics and related research was pretty much limited to serious hobbyists or to those working at big corporations, research institutions, and universities. the introduction of affordable robotics invention system by lego mindstorms has helped make the art and science of robotics available to every one. the lego robotics invention kit has all the necessary lego components to design, build and program a fully functional robot in very little time requiring very little prior experience. in this article we will explore the brain of lego mindstorms that will enable us to program the robot to perform the functions we intend to. you will look at installing and using the java-based lejos firmware.
the brain of the lego mindstorms is the programmable microcontroller brick, called rcx. the rcx evolved from mits programmable brick, which was originally developed so that a developer could design and build small mobile devices that work independently without requiring a physical connection to a host machine. programs are created on a host computer and downloaded to the brick, either through an infrared link or through a wired connection. once the program is downloaded into the brick, the mobile device can start functioning independently from the host machine. 【程序编程相关:JVM结构基础(一)】
inside lego mindstorms 【推荐阅读:关于runtime exception和】the rcx is programmed using the legos-supplied gui utility tool, which abstracts the details of the programming semantics and provides an intuitive user interface, where the user can drag and drop to assemble components to generate the program. the program that is generated can then be downloaded into the firmware using the infrared tower. the default firmware, however, can be replaced with a variety of alternate firmware, driven by the choice of programming languages. in our case, we will be replacing the original firmware with the java-based lejos firmware that will enable us to develop the user programs in java. 【扩展信息:GB 2312 汉字编码字符集】
the rcx is the programmable brick that was designed and developed by lego. at the core of the rcx brick is a hitachi h8 3297 microcontroller that has 32k of external ram. there is also an on-the-chip 16k rom that has the drivers that run when the rcx is turned on for the first time. the 32k of ram is logically divided into sections: 16k for the firmware, 6k for storing user programs, and 10k for interpreting the byte code and handling the program execution. the rcx can be programmed to simultaneously control up to three motors, three sensors, and an infrared communication device.
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