Transcript LEGO Mindstorms Hitachi H8

California State University, Chico
Intelligent Systems Laboratory
Chico, CA 95929-0410
http://isl.ecst.csuchico.edu
LEGO Mindstorms
Hitachi H8-based RCX brick
B.A. Juliano, R.S. Renner, F. Jauregui
January 2004
LEGO Mindstorms
• http://mindstorms.lego.com
Robotics Invention System 2.0
• RIS Kit
Contents of Kit
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RCX™ Microcomputer
CD-ROM Software
Contructopedia™
3 Guided Challenges
6 Pro Challenges
USB Infrared Transmitter
718 pieces, including:
2 Motors
2 Touch Sensors
1 Light Sensor
Compatibility
Minimum Requirements for your PC:
Operating System
Windows® 98*
CPU
Pentium II 233 MHz
RAM
32 MB
Available Hard Disk
Space
115 MB
Mouse
Windows® Compatible
Sound
Sound Blaster 16™ Windows® Compatible Sound
Device
CD-ROM Speed
CD 8X
Video Display
800 X 600 SVGA with 4 MB RAM
Colors
Colors 16 bit
Modem (optional)
28.8 KBPS
Internet Browser
(optional)
Netscape® Navigator or Microsoft™ Internet
Explorer
•Not compatible with Windows NT or Windows 2000 operating systems.
RIS 2.0 RCX Brick
An autonomous LEGO microcomputer that can be
programmed using a PC. The RCX serves as the brain of
LEGO MINDSTORMS inventions.
About the Brick
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LCD (Liquid Crystal Display)
Four buttons
One internal speaker
Three sensor inputs
Three actuator outputs
IR (Infrared) interface
About the Brick
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Hitachi H8 series microcontroller
8 bit CPU at 16 MHz
32 KByte RAM
16 KByte ROM for the BIOS
serial I/O (input/output)
ADC (analog digital converter)
built-in timers
Features
• Instruction set with 57 basic
instructions, including:
– Multiply and divide instructions
– Powerful bit-manipulation instructions
• High-speed operation
– All frequently-used instructions are
executed in two to four states
Software Architecture
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System ROM Layer
Low level control software
Interface to hardware
Second piece of software
– Firmware
– Located in RCX ROM
Firmware
• Can bypass system ROM software
– Allows complete control of RCX
• Erased when power removed
• In RCX RAM
• Can use standard Firmware OR
– Can be replaced with others
– birickOS
Caution
• When changing batteries you may
loose Firmware and all programs
– Replace one at a time
– Do within one minute
Multi-Tasking
• Threading
– Multiple things at one time
• Can create new threads to
accomplish Multi-Tasking
Put it All Together
Hitachi H8/3292
Microcontroller
Hitachi H8/3292 diagram
Hitachi H8/3292 package
H8/300 CPU
• 8-bit data
• 16-bit address space
• 8 X 16 bit registers (r0-r7)
– R0 – function return
– R7 – stack pointer
• 16 MHz clock
H8/3292 Block Diagram
RCX Memory Layout
Input Devices
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3 Sensors
4 Buttons
Battery level monitor
Timers
Light Sensor
•Two components
•Light detector
•Small light source
•Light turned on to find something
close. Amplifies difference between
light and dark.
•Great for line following
Light Sensor cont.
• Highly sensitive to ambient light
– Sunlight is the worst
• How to solve problem
– Take two light sensor readings and
subtract the background light
• Sensitive to objects reflective
surface.
– Thus, difficult to measure distance.
Light Sensor cont.
• Light measured as
– 0% (total darkness) to
– 100% (very bright).
Light Sensor cont.
light energy
voltage
measurement
photo-transistor
light energy
voltage
measurement
electrical flow
Uses for Light Sensor
• Navigation
• Black on white
• White on black
• Find light
• Avoid light
• Sort colors
• black Lego bricks
• yellow Lego bricks.
• Input Device
• colors or gray levels on paper.
Touch Sensor
electrical flow
force
voltage
measurement
Uses for Touch Sensor
• Detect contact
• Wall detection
• Internal contact
• Arm contact with internal parts
• Constant contact
• Make sure bot does not fall off of a table
• Input Device
• Use as a push button
Others
• You can buy or make you own
sensors
– Example: Temperature sensor
– Search online
– Lots of resources
http://www.plazaearth.com/usr/gasperi/lego.htm
Temperature Sensor
Temperature Sensor cont.
Temperature Sensor cont.
Temperature Sensor cont.
Output Devices
• 3 Actuator Ports
• 5-segment LCD
• Speaker
Bidirectional Device
• Infrared port
LegoOS Network Protocol
(LNP)
• Communication between brickOS
and host computers
• If packets arrive
– Free of corruption
• Collision problems