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rhempel wrote to us about an interesting LEGO Mindstorms programming tool he's created called pbForth. Click below to learn more about it - but let's talk about Mindstorms programming in general. What else is everyone using? What's the coolest thing you've done with them?

I've developed pbForth, a port of a rather archaic programming language, for the LEGO Mindstorms brick. The cool thing about it is that with a dumb terminal emulator that does ASCII uploads and can handle XMODEM (checksum) transfers, you can compile applications right on the brick! Yes, on the brick! When you are done, you blast S records back to your PC using XMODEM and then you can reload the app anytime using one of the standard firmware uploaders.

Check out pbForth for LEGO Mindstorms

pbForth got a whole chapter in the O'Reilly book, and it is getting more and more momentum as replacement firmware that busts the 32 variable barrier, and allows total cross-platform development without screwing around with building ecgs.

OK, I'm biased - I wrote it - but I think it's cool. Maybe some of you LEGO gearheads out there would like to try programming in something other than the native tongue. Learning Forth can make you a better C programmer. No, I'm not a Forth evangelist - I write embedded systems in C all day long.

rhempel wrote to us about an interesting LEGO Mindstorms programming tool he's created called pbForth. Click below to learn more about it - but let's talk about Mindstorms programming in general. What else is everyone using? What's the coolest thing you've done with them?

I've developed pbForth, a port of a rather archaic programming language, for the LEGO Mindstorms brick. The cool thing about it is that with a dumb terminal emulator that does ASCII uploads and can handle XMODEM (checksum) transfers, you can compile applications right on the brick! Yes, on the brick! When you are done, you blast S records back to your PC using XMODEM and then you can reload the app anytime using one of the standard firmware uploaders.

Check out pbForth for LEGO Mindstorms

pbForth got a whole chapter in the O'Reilly book, and it is getting more and more momentum as replacement firmware that busts the 32 variable barrier, and allows total cross-platform development without screwing around with building ecgs.

OK, I'm biased - I wrote it - but I think it's cool. Maybe some of you LEGO gearheads out there would like to try programming in something other than the native tongue. Learning Forth can make you a better C programmer. No, I'm not a Forth evangelist - I write embedded systems in C all day long.

Quite a number of you out there are into Lego Mindstorms, as evidenced by the number of book reviews that have been sent my way. Below are a couple of reviews, one from Kurt DeMaagd and the other from Will Ware. Click below to get their take on the O'Reilly book The Unofficial Guide to Lego Mindstorms Robots. The Unofficial Guide to Lego Mindstorms Robots author Jonathan B. Knudsen pages 247 publisher O'Reilly & Associates rating 9/10 reviewer Will Ware & Kurt DeMaagd ISBN 1-56592-692-7 summary Get the most out of your Lego Mindstorms The Unofficial Guide to Lego Mindstorms Robots Review by Will Ware

Last year, Lego released their Mindstorms Robotics Invention System. Using this, children and adults can build simple robots whose behavior can be programmed. The Mindstorms system is a major contender for Coolest Toy on the Planet.

The system contains a RCX programmable brick containing an H8/300 microcontroller, some pushbuttons, a little LCD display, and connectors for motors and sensors (light and physical contact). The user writes a program using a graphical programming language on his Windows box, and downloads it to the RCX via infrared.

Not surprisingly, substantial reverse engineering (1, 2) has been done by hobbyists, and it is possible to develop Mindstorms programs on a Linux box and to download the RCX brick from Linux.

Now O'Reilly has joined the Mindstorms fray, with a book full of fun and useful information about how to build and program Mindstorms robots. The book describes four different robots: Hank is a bumper car robot, Trusty uses light sensors to follow a line along the floor, Minerva has a movable arm, and two identical robots play a game called RoboTag. Along the way, the author discusses the physics and mechanics of robots, programming issues, and the available development environments for Mindstorms.

What's Good? There are detailed building instructions for each of the robots, showing photos at various stages of construction. The designs are simple and appear mechanically sound. There are discussion of the physics and mechanics of tank treads, steering, gears, and other things.

The book's chapters sequentially step through several different software development environments. The first chapter starts with the Windows-based RIS environment that comes on the Mindstorms CDROM. Later chapters give programming examples for NQC (Not Quite C), pbFORTH, Visual Basic, and the legOS operating system, which uses an EGCS cross-compiler to target the H8/300. There are more development platforms available, but these give a good sense of what's possible in Mindstorms programming.

The book has dozens of useful URLs, for both official Mindstorm sites and unofficial hobbyist sites. I particularly liked the fact that the author was aware of some of the recent research in robotics. For instance there is some discussion of Rodney Brooks' subsumption architecture, which is used for the RoboTag robots.

Later chapters of the book often expand on designs from earlier chapters, building more sophistocated robots in an accessible, incremental fashion. For the more adventurous hobbyist, the final chapter talks about building your own sensors and actuators, and how to connect them to the RCX.

What's Bad? Some of the photos are too dark and lack contrast. It would also have been nice if the photography had been in color, but black-and-white photos kept the book more affordable.

This book is for the casual weekend robot-building tinkerer, and it never promised to discuss real-time embedded issues in depth. Still, a few topics might have merited at least brief mention. Systems with real-time multitasking must frequently arrange for synchronization and communication between tasks, using mutexes and mailboxes and the like, which brings the possibility of deadlocked processes. Another danger is that an aggressively efficient compiler will sometimes optimize away reads and writes to hardware registers. The fix is to declare such registers with the volatile keyword.

Review by Kurt DeMaagd

While Lego Mindstorms were officially released for a teenage crowd, they have become popular with a wide variety of technically competent people in many age groups. This widespread fascination has opened up a whole new world of opportunities for using Mindstorms. At the same time, the documentation and tutorial included with the Lego kits provide very little information about how to get the most out of the sets. This book fills the void by providing several start-to-finish robot designs, software to run them, and a wealth of other tips and tricks.

After a brief introduction to robotics and how Legos fit in, the author discusses the basics of using Mindstorms to create them. Both chapters present a problem, provide step by step building instructions, provide the necessary information to program the solution, and finally go into greater detail about the Lego features used to solve the particular problem.

While the chapters did an excellent job of presenting this information in general, they fell victim to a problem that would plague the entire book: some of the building diagrams were nigh unto unreadable. Attempting to build a robot based on fuzzy black and white photographs can be quite a chore. Fortunately, none of the robots were so complex that they robots were completely unbuildable.

The first few chapters presented robots programmed with the default RIS programming environment. In chapter four and following, he shows how to program using languages such as Not Quite C, Forth, Sprit.ocx for Visual Basic--or optionally Visual C++ or another ActiveX-aware language--and legOS. Since much of these sections was documenting API's, it was certainly not the most exciting read, but it does provide concise, easily to reference documentation.

Not Quite C, as the name implies, is a C-like language that can be used to program Mindstorms robots. It overcomes many of the limitations of the default RIS programming environment, most notably the lack of variables. One of its biggest advantages is that it does not require the user to install a new version of the firmware on their RCX unit. In general, it provides an excellent balance between power and usability.

The remaining three means of programming presented in the book are fairly mediocre options. PbForth requires the user to download a new firmware version, and the language itself is very archaic in modern software development terms. Using Sprit.ocx is a viable option for people used to programming in Visual Basic or Visual C++, but the control structures are very clunky and non-intuitive. legOS, while it is probably the most powerful option, takes a significant amount of time to set up and develop applications with.

Two of the projects referenced while discussing the various programming languages were particularly interesting, both of which outlined infrared communication. The first program creates a simple remote control for controlling a robot via the IR port on the RCX. The other example, perhaps the most interesting in the book, was creating two robots who played tag with each other. These two robots also communicated with each other via their IR ports.

The last chapter, targetted toward the hard core Mindstorms users outlined how to create additional sensors for Mindstorms. It sketched out such possibilities as a passive light sensor, a Hall effect sensor (magnetic fields), and a touch multiplexor (allowing you to have more touch sensors than normally allowed on the RCS unit).

In general, the book provides a vast array building and programming tips, tricks, and methods. He gives basic information for the person who is just starting, and introduces the advanced user to the vast network of people and product that have made Mindstorms far more than a child's toy.

Purchase this book at fatbrain.

Table of Contents

• Preface

• 1. Welcome to MINDSTORMS
• What is a Robot?
• Mobile Robots
• What is MINDSTORMS?
• What Now?
• Online Resources

• 2. Hank, the Bumper Tank
• About the Building Instructions
• Building Instructions
• A Simple Program
• Wheels
• Bumpers and Feelers
• Gears
• Multitasking
• Online Resources

• 3. Trusty, a Line Follower
• Building Instructions
• Some Tricky Programming
• The Light Sensor
• Idler Wheels
• Using Two Light Sensors
• Online Resources

• 4. Not Quite C
• A Quick Start
• RCX Software Architecture
• NQC Overview
• Trusty Revisited
• Online Resources

• 5. Minverva, a Robot with an Arms
• Building Instructions
• Programming
• Directional Transmission
• Pulleys
• Mechanical Design
• Two Sensors, One Input
• Where am I?
• Online Resources

• 6. PbFORTH
• Replacement Firmware
• pbForth Overview
• About Forth
• pbFORTH Words
• An Expensive Thermometer
• Minerva Revisited
• Debugging
• Online Resources

• 7. A Remote Control for Minerva
• Two Heads are Better Than One
• The Allure of Telerobotics
• Building Instructions
• Programming the Remote Control
• Programming Minerva
• Online Resources

• 8. Using Sprit.ocx with Visual Basic
• You May Already Have Visual Basic
• About Spirit.ocx
• Calling Spirit.ocx
• Immediate and Delayed Gratification
• Programs, Tasks, and Subroutines
• Tips
• Retrieveing the Datalog
• Online Resources

• 9. RoboTag, a Game for Two Robots
• Building Instructions
• Subsumption Architecture
• Online Resources

• 10. LegOS
• About legOS
• Development Tools
• Hello, legOS
• Function Reference
• New Brains for Hank
• Development Tips
• Online Resources

• 11. Make Your Own Sensors
• Mounting
• Passive Sensors
• Powered Sensors
• Touch Multiplexer
• Other Neat Ideas
• What About Actuators?
• Online Resources

• A. Finding Parts and Programming Environments

• B. A pbFORTH Downloader

• C. Future Directions

• Index

Quite a number of you out there are into Lego Mindstorms, as evidenced by the number of book reviews that have been sent my way. Below are a couple of reviews, one from Kurt DeMaagd and the other from Will Ware. Click below to get their take on the O'Reilly book The Unofficial Guide to Lego Mindstorms Robots. The Unofficial Guide to Lego Mindstorms Robots author Jonathan B. Knudsen pages 247 publisher O'Reilly & Associates rating 9/10 reviewer Will Ware & Kurt DeMaagd ISBN 1-56592-692-7 summary Get the most out of your Lego Mindstorms The Unofficial Guide to Lego Mindstorms Robots Review by Will Ware

Last year, Lego released their Mindstorms Robotics Invention System. Using this, children and adults can build simple robots whose behavior can be programmed. The Mindstorms system is a major contender for Coolest Toy on the Planet.

The system contains a RCX programmable brick containing an H8/300 microcontroller, some pushbuttons, a little LCD display, and connectors for motors and sensors (light and physical contact). The user writes a program using a graphical programming language on his Windows box, and downloads it to the RCX via infrared.

Not surprisingly, substantial reverse engineering (1, 2) has been done by hobbyists, and it is possible to develop Mindstorms programs on a Linux box and to download the RCX brick from Linux.

Now O'Reilly has joined the Mindstorms fray, with a book full of fun and useful information about how to build and program Mindstorms robots. The book describes four different robots: Hank is a bumper car robot, Trusty uses light sensors to follow a line along the floor, Minerva has a movable arm, and two identical robots play a game called RoboTag. Along the way, the author discusses the physics and mechanics of robots, programming issues, and the available development environments for Mindstorms.

What's Good? There are detailed building instructions for each of the robots, showing photos at various stages of construction. The designs are simple and appear mechanically sound. There are discussion of the physics and mechanics of tank treads, steering, gears, and other things.

The book's chapters sequentially step through several different software development environments. The first chapter starts with the Windows-based RIS environment that comes on the Mindstorms CDROM. Later chapters give programming examples for NQC (Not Quite C), pbFORTH, Visual Basic, and the legOS operating system, which uses an EGCS cross-compiler to target the H8/300. There are more development platforms available, but these give a good sense of what's possible in Mindstorms programming.

The book has dozens of useful URLs, for both official Mindstorm sites and unofficial hobbyist sites. I particularly liked the fact that the author was aware of some of the recent research in robotics. For instance there is some discussion of Rodney Brooks' subsumption architecture, which is used for the RoboTag robots.

Later chapters of the book often expand on designs from earlier chapters, building more sophistocated robots in an accessible, incremental fashion. For the more adventurous hobbyist, the final chapter talks about building your own sensors and actuators, and how to connect them to the RCX.

What's Bad? Some of the photos are too dark and lack contrast. It would also have been nice if the photography had been in color, but black-and-white photos kept the book more affordable.

This book is for the casual weekend robot-building tinkerer, and it never promised to discuss real-time embedded issues in depth. Still, a few topics might have merited at least brief mention. Systems with real-time multitasking must frequently arrange for synchronization and communication between tasks, using mutexes and mailboxes and the like, which brings the possibility of deadlocked processes. Another danger is that an aggressively efficient compiler will sometimes optimize away reads and writes to hardware registers. The fix is to declare such registers with the volatile keyword.

Review by Kurt DeMaagd

While Lego Mindstorms were officially released for a teenage crowd, they have become popular with a wide variety of technically competent people in many age groups. This widespread fascination has opened up a whole new world of opportunities for using Mindstorms. At the same time, the documentation and tutorial included with the Lego kits provide very little information about how to get the most out of the sets. This book fills the void by providing several start-to-finish robot designs, software to run them, and a wealth of other tips and tricks.

After a brief introduction to robotics and how Legos fit in, the author discusses the basics of using Mindstorms to create them. Both chapters present a problem, provide step by step building instructions, provide the necessary information to program the solution, and finally go into greater detail about the Lego features used to solve the particular problem.

While the chapters did an excellent job of presenting this information in general, they fell victim to a problem that would plague the entire book: some of the building diagrams were nigh unto unreadable. Attempting to build a robot based on fuzzy black and white photographs can be quite a chore. Fortunately, none of the robots were so complex that they robots were completely unbuildable.

The first few chapters presented robots programmed with the default RIS programming environment. In chapter four and following, he shows how to program using languages such as Not Quite C, Forth, Sprit.ocx for Visual Basic--or optionally Visual C++ or another ActiveX-aware language--and legOS. Since much of these sections was documenting API's, it was certainly not the most exciting read, but it does provide concise, easily to reference documentation.

Not Quite C, as the name implies, is a C-like language that can be used to program Mindstorms robots. It overcomes many of the limitations of the default RIS programming environment, most notably the lack of variables. One of its biggest advantages is that it does not require the user to install a new version of the firmware on their RCX unit. In general, it provides an excellent balance between power and usability.

The remaining three means of programming presented in the book are fairly mediocre options. PbForth requires the user to download a new firmware version, and the language itself is very archaic in modern software development terms. Using Sprit.ocx is a viable option for people used to programming in Visual Basic or Visual C++, but the control structures are very clunky and non-intuitive. legOS, while it is probably the most powerful option, takes a significant amount of time to set up and develop applications with.

Two of the projects referenced while discussing the various programming languages were particularly interesting, both of which outlined infrared communication. The first program creates a simple remote control for controlling a robot via the IR port on the RCX. The other example, perhaps the most interesting in the book, was creating two robots who played tag with each other. These two robots also communicated with each other via their IR ports.

The last chapter, targetted toward the hard core Mindstorms users outlined how to create additional sensors for Mindstorms. It sketched out such possibilities as a passive light sensor, a Hall effect sensor (magnetic fields), and a touch multiplexor (allowing you to have more touch sensors than normally allowed on the RCS unit).

In general, the book provides a vast array building and programming tips, tricks, and methods. He gives basic information for the person who is just starting, and introduces the advanced user to the vast network of people and product that have made Mindstorms far more than a child's toy.

Purchase this book at fatbrain.

Table of Contents

• Preface

• 1. Welcome to MINDSTORMS
• What is a Robot?
• Mobile Robots
• What is MINDSTORMS?
• What Now?
• Online Resources

• 2. Hank, the Bumper Tank
• About the Building Instructions
• Building Instructions
• A Simple Program
• Wheels
• Bumpers and Feelers
• Gears
• Multitasking
• Online Resources

• 3. Trusty, a Line Follower
• Building Instructions
• Some Tricky Programming
• The Light Sensor
• Idler Wheels
• Using Two Light Sensors
• Online Resources

• 4. Not Quite C
• A Quick Start
• RCX Software Architecture
• NQC Overview
• Trusty Revisited
• Online Resources

• 5. Minverva, a Robot with an Arms
• Building Instructions
• Programming
• Directional Transmission
• Pulleys
• Mechanical Design
• Two Sensors, One Input
• Where am I?
• Online Resources

• 6. PbFORTH
• Replacement Firmware
• pbForth Overview
• About Forth
• pbFORTH Words
• An Expensive Thermometer
• Minerva Revisited
• Debugging
• Online Resources

• 7. A Remote Control for Minerva
• Two Heads are Better Than One
• The Allure of Telerobotics
• Building Instructions
• Programming the Remote Control
• Programming Minerva
• Online Resources

• 8. Using Sprit.ocx with Visual Basic
• You May Already Have Visual Basic
• About Spirit.ocx
• Calling Spirit.ocx
• Immediate and Delayed Gratification
• Programs, Tasks, and Subroutines
• Tips
• Retrieveing the Datalog
• Online Resources

• 9. RoboTag, a Game for Two Robots
• Building Instructions
• Subsumption Architecture
• Online Resources

• 10. LegOS
• About legOS
• Development Tools
• Hello, legOS
• Function Reference
• New Brains for Hank
• Development Tips
• Online Resources

• 11. Make Your Own Sensors
• Mounting
• Passive Sensors
• Powered Sensors
• Touch Multiplexer
• Other Neat Ideas
• What About Actuators?
• Online Resources

• A. Finding Parts and Programming Environments

• B. A pbFORTH Downloader

• C. Future Directions

• Index