Core Lego Mindstorms programming / Brian Bagnall.

By: Bagnall, Brian, 1972-.

Material type: materialTypeLabel

BookPublisher: Upper Saddle River, NJ : Prentice Hall, 2002Description: xx, 538 p. : ill. ; 24 cm. + pbk.ISBN: 0130093645.Subject(s): Robots -- Design and construction | Computer programming

| LEGO toys

DDC classification: 629.892

Contents:

Meet mindstorms -- Getting started with LEJOS -- Learn Java in 2.4 hours! -- The LEJOS API -- LEGO 101 -- Behavior control -- Navigation -- Navigation with rotation sensors -- Proximity detection -- Navigation with a compass sensor -- RCX communications -- Advanced LEJOS topics.

Holdings
Item type	Current library	Call number	Copy number	Status	Date due	Barcode	Item holds
General Lending	MTU Bishopstown Library Lending	629.892 (Browse shelf(Opens below))	1	Available		00078416

Total holds: 0

Enhanced descriptions from Syndetics:

LEGO Mindstorms robots can do more than you ever imagined! The secret: go beyond the built-in tools and leverage the power of Java. In Core LEGO Mindstorms , author Brian Bagnall shows you how, step by step. Working from beautifully rendered 3-D plans and photographs, you'll construct five unique robots. You'll master advanced proximity and compass sensors, even master MIT's new breakthrough in robotics: behavior control programming.

Includes index.

Table of contents provided by Syndetics

Preface
Acknowledgments
1 Meet Mindstorms
Enter Mindstorms
The Robotics Invention System
RCX Brick
IR Tower
Motors
Sensors
LEGO Parts
Building Tippy
The RIS CD Software
The World of Mindstorms
ROBOLAB(tm)
LogIT Sensors
Technic
Robotics Discovery Set
Vision Command
RIS Expansion Sets
Code Pilot
Droid Developer Kit
Dark Side Developer Kit
CyberMaster
Ultimate Accessory Kit
Ultimate Builders Set
2 Getting Started with leJOS
leJOS Overview
JVM
RCX Platform Extensions
Java API
Robotics Programming
Installing leJOS
Windows 98/Windows Me
Windows NT/Windows 2000
Linux
Macintosh OSX
Testing leJOS
Creating and Running a Program
Uploading More Than One Program
Setting Up an IDE
JCreator (Windows Platforms)
How leJOS "Stacks Up"
NQC
PbFORTH
LegOS
Visual Basic
leJOS vs
TinyVM
3 Learn Java in 2.4 Hours!
Java Core Language
OOP
Source Files
Classes
Interfaces
Import and Package Statements
Methods
Overloading Methods
Fields and Variables
Naming Rules
Operators
Program Flow Control
The java.lang Package
Math
Object
Runtime
String
StringBuffer
System
Threads
Throwable
Java.util
BitSet
Hashtable
Random
Vector
4 THE leJOS API
josx.platform.rcx
Button
LCD
MinLCD
Motor
ROM
Sensor
Serial
Sound
MinSound
TextLCD
The josx.util Package
Timer
Josx.robotics
Java.io and josx.platform.rcx.comm
5 Lego 101
RIS Parts Library
Bricks
Classic LEGO Bricks
Technic Beams
Specialized Bricks
Slope Bricks
Plates Overview
Rectangular Plates
Plates Overview
Specialty Plates
Pins
Tires, Wheel Hubs, and Treads
Axles
Axle Accessories
Gears
Pulleys
Pulley Drive Belts
Lift Arms
Other Parts
Common LEGO Structures
Chassis
Caster Wheels
Ratchets
Single Motor Navigation
Walking Mechanism
Building Philosophy 101
6 Behavior Control
Behavior Control Theory
Programming Behavior with leJOS
The Behavior API
Advanced Behavior Coding
Coding Foolproof takeControl() Methods
Coding Solid action() and suppress() Methods
7 Navigation
Understanding the Problem of Navigation
Navigation Theory
Trigonometry
Using the Navigator API
Creating a Navigator Robot
Building the Trilobot
Programming Trilobot
TimingNavigator Accuracy
Systematic Errors
Nonsystematic Errors
Summary
8 Navigation with Rotation Sensors
Understanding Rotation Sensors
Trailer Odometer
Handheld Odometer
On-Axle Odometers
Off-Axle Odometers
Angle Measurement
Using the RotationNavigator Class
Creating a Navigator Robot
Building Instructions
Programming Tippy Senior
RotationNavigator Accuracy
Systematic Errors
Nonsystematic Errors
9 Proximity Detection
Creating a Simple Proximity Sensor
Programming the Sensor
Reliability
Creating a Distance Sensor
The Sharp GP2D12 Sensor
A Primer in Electronics
Building the Distance Sensor
Permanent Assembly
Enclosing the Circuit
Programming the Proximity Sensor Driver
A Wall Follower
10 Navigation with a Compass Sensor
The Compass Sensor
Theory of Calculating Direction
Building the Compass Interface
Tools
Circuit Assembly
Testing the Circuit
Programming the Compass Class
Calibration
Compass Driver
Programming CompassNavigator
A Robot Using the Compass
Chassis
Compass Basket
Front Bumper
Final Assembly
Compass Accuracy
11 RCX Communications
The Communications API
InputStream
DataInputStream
DataOutputStream
DataPort
PCDataPort
RCXDataPort
Installation
IDE Setup
Uploading Map Data
Controlling the RCX Through a Network
Controlling the RCX from a Web Page
Installing a Web Server
A Simple Project
Alternate Data Transfer Methods
Alternate Communication Uses
12 Advanced leJOS Topics
Memory Issues
Monitoring Memory Use
Programming Efficient Code
Hacking leJOS to Save Memory
Performance Tips
Alternate Languages for the JVM
Using NetRexx on the RCX
leJOS Architecture Overview
The Firmware
The API
The Linker
Modifying and Recompiling the Firmware
Adding Native Methods
Portability of leJOS
Appendix A Parts and Kits
LEGO Shop At Home
Pitsco LEGO Dacta
LogIT Sensors
Mindsensors
Appendix B Electronics Projects
Electronics Sources
Europe
North America
International
Distance Sensor Parts
Europe
North America
Compass Sensor Parts
Europe
North America
Compass Sensor Circuit Building
Experimentor Board
Punchboard
Etched PC Board
Appendix C Utilities
leJOS Binaries
lejosc.exe
lejos.exe
lejosfirmdl.exe
lejosrun.exe
emu-lejos.exe
emu-lejosrun.exe
lejosp.exe
lejosp1.exe
lejosc1.exe
emu-dump.exe
leJOS Utilities
RCX Direct-Mode
RCX Download
Bricks Music Studio
Text to LCD Display
leJOS Visual Interface
LEGO Utilities
Ldraw
MLCAD
L3P
LEO Cad
Appendix D Internet Resources
leJOS Resources
leJOS Home Page
leJOS Project Development Home Page
Java Resources
Sun's Official Java Site
LEGO Resources
LEGO Users Group (LUGNet)
RCX Resources
RCX Internals
Analysis of the RCX
Sensors and Actuators
Distance Sensor
Compass Sensor
Homebrew RCX Sensors
Resistor Color Bands
RCX Projects
Rubik's Cube Solver (and More)
LEGO Robotics Network
Robot Navigation
Mobile Robot Positioning
Dead Reckoning Contest
Other Hardware
Tower Hobbies
Draganfly
Index.

Excerpt provided by Syndetics

Preface There are 718 LEGO pieces in the latest version of the Robotics Invention System. Depending on how you look at it, 718 can either seem like a large number or a small number. In the grand scheme of things, 718 seems like a small number to me. Of those pieces, 129 are unique LEGO parts (not including color differences). Looking around me, I'd say the Robotics Invention System can build a decent representation of just about everything in this room. It can build a desk, a chair, a primitive speaker, a spinning globe, a blender, a clock (digital or analog), or probably even a simulation of a CD player. Outside my domain, the kit could produce models of automobiles, subway cars, boats, or almost any man-made machine. Looking to nature, it could create simulations of spiders, ants, scorpions, dogs, cats, and whales. True, the kit by itself can't reproduce everything in the world. It can't reproduce the envelope of a helium balloon or a complete BMW assembly line, but the things it can't do are far outweighed by the things it can. And there are probably things it can build that no one has ever thought of! I'm going to go out on a limb and estimate that 718 pieces can create an infinite number of models. From this logic, it's easy to see that 718 equals infinity. It's no exaggeration to say that LEGO MINDSTORMS has done for robots what Henry Ford did for automobiles. LEGO has managed to put robots in the hands of ordinary people. The standardized parts and common languages means sharing of ideas in robotics is happening on a scale that has never occurred before. A brief search of the web to shows just how much MINDSTORMS has permeated through cyberspace. If you already own the Robotics Invention System, congratulations! You have almost everything you need to create some amazing robots. The only remaining tool you need is a truly powerful programming language, and that is what this book will present to you. The language is Java, one of the most universally accepted programming languages in computers today, and this book will show how to use Java to push MINDSTORMS to the limit. This book is not a compilation of projects, (of which there are several good ones on the market). The aim of this book it to give you the knowledge and tools you need to turn your ideas into reality, not someone elses. All the projects in this book are presented because they have some sort of lasting value. If this book has done its job, hopefully you will be surprised by what you didn't know MINDSTORMS could do. This book will also solve the greatest mystery of the MINDSTORMS kit-what the grey foot-pedal looking part is for (see Figure below). To my know-ledge, no one has yet discovered what this part does or how it is used. Not even the actual LEGO MINDSTORMS engineers who designed the part understand what it is for. Chapter 5 will answer this age old mystery. About this Book Chapter 1 is an introduction to the Robotics Invention System. This chapter covers just the main components of the kit, including software, the RCX brick, and the IR tower. It also introduces other kits and products that can expand your MINDSTORMS universe. Chapter 2 is a basic introduction to leJOS, the Java platform for the RCX brick. It covers a bit of background on leJOS, the basic features that distinguish it from other RCX development tools, and instructions on how to install leJOS as well as a powerful IDE. Chapter 3 is a high-speed introduction to Java. Those who are familiar with Java may opt to just skim the Notes and Warnings, which point out differences between leJOS Java and Sun's Java. Chapter 4 demonstrates, through code examples, how to access motors, sensors, and other components of the RCX brick using Java. Chapter 5 is an encyclopedia of the Robotics Invention System parts. It goes through each of the 129 unique parts of the kit so you can put a name to the part and identify all the uses. If you ever wondered what the other versions of the kit contained, this is where you can find out. There is also a section on common LEGO structures that will help you to rapidly build key structures. Chapter 6 introduces the concept of Behavior Control programming, a technique of programming insect level, behavior based intelligence. The leJOS API contains several classes for programming your own behavior control, making this an easy and powerful addition to robotics programming. Chapter 7 begins the concept of navigation. The first part of the chapter lays out the fundamental concepts of navigation and tries to impress upon the reader a true understanding of just what it is about navigation that makes it so difficult for robots. It then moves on to real world examples of navigation programming using leJOS. Chapter 8 continues the topic of navigation, but this time using a pair of rotation sensors to achieve even more accurate navigation than possible with timing methods. Chapter 9 presents unique ways of detecting objects before the robot collides with them. The first part of the chapter shows how to build a simple proximity detector using only the pieces contained in the kit. More ambitious MINDSTORMS users can build an accurate distance sensor from raw electronic components. I have endeavored to make the instructions for assembly as clear, simple and precise as possible so even those completely unfamiliar with electronics will be able build this powerful sensor. The last part of this chapter shows how to build a classic robot project, the wall follower. Chapter 10 is the third and final chapter dealing with navigation. This chapter shows how to assemble a compass sensor, which is useful for determining the orientation of the robot using the earths magnetic field. Though more difficult than the proximity sensor, this sensor worked the very first time I plugged the components into the bread board, so most readers shouldn't encounter any problems with this project. Chapter 11 introduces the topic of communications. The RCX is capable of communicating with other devices that use Infrared signals. This includes the PC, the LEGO Remote Control, and other RCX bricks. The powerful java.io API is available on the leJOS platform, making communications with a PC that much easier. This chapter also shows how to control the RCX brick from a PC across the Internet using a remote program, an embedded applet, or from a plain old web page. Chapter 12, the final chapter of the book, covers advanced topics. Here you can learn everything you never wanted to know about leJOS. Since memory is always on the mind of an RCX programmer, this chapter describes memory saving strategies that can help you squeeze that last little bit of code on board the RCX. Another interesting aspect of the leJOS JVM is that Java is not the only language that it can execute! The leJOS JVM is also capable of running other languages, such as Forth, NetRexx, and dozens of others. There is also a writeup on how to port leJOS to other processors, something for only the most advanced users. The appendices will give you some valuable information on leJOS and the RCX. There is a section on ordering sensors, kits, and other parts you may not even have known existed. Ordering electronics parts can be such an art-form that an entire Appendix is dedicated to this topic. There is also a section on the burgeoning utilities available for leJOS. Finally, no book on LEGO MINDSTORMS would be complete without a section of web resources. Companion Web Site This book has a companion Web site to provide you with updates and other material. It is located at www.phptr.com/bagnall Excerpted from Core LEGO MINDSTORMS Programming: Unleash the Power of the Java Platform by Brian Bagnall All rights reserved by the original copyright owners. Excerpts are provided for display purposes only and may not be reproduced, reprinted or distributed without the written permission of the publisher.

Author notes provided by Syndetics

Brian Bagnall is a Sun Certified Java Programmer and Developer