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SLego: Squeak and Lego Mindstorms
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SLego: Squeak and Lego Mindstorms

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SLego: Squeak and Lego Mindstorms (ESUG 2002, Douai, France)

SLego: Squeak and Lego Mindstorms (ESUG 2002, Douai, France)

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  • 1. SLego: A Squeak Implementation of Lego Mindstorms Alexandre Bergel Institut fuer Mathematik und Informatik University Bern bergel@iam.unibe.ch !
  • 2. Plan 1. Goal: Mapping between Morph and Lego Mindstorms 2. What is the Lego Mindstorms kit? 3. Slego 1. Environment 2. Compiler 4. Demo 5. Future
  • 3. Mapping between Lego Mindstorms and Morphics ●  Define a behavior for concrete robots using morphics ●  A morph is a graphical component in Squeak ●  Once a morph behavior defined, the goal is to make a Lego Mindstorms system acting as it ●  3 steps are needed : –  Extract the behavior of a morph –  Compile it for the Lego Mindstorms
  • 4. Introduction of Lego Mindstorms 1/ 2 ●  Is a robot-kit-in-a-box product from Lego ●  Originally made at the MIT ●  It consists of : –  A computer module (called RCX) –  An inventory of many TECHNICS part (elementary bricks) –  Sensors and motors ●  An environment made by Lego which defines a visual langage (having if, loop, ...)
  • 5. Introduction of Lego Mindstorms 2/ 2 ●  The RCX is composed of: –  3 inputs for sensors (such as push buttons or light detectors) –  3 outputs for motors or lights –  A microprocessor –  32 kb of RAM ●  The communication between a computer and a RCX is done via radio or infra-red
  • 6. Slego ●  Slego = playarea + compiler + serial port communication ●  Two kinds of communication ●  Direct use needs to have the RCX always connected to the computer. Each command sent to the RCX is immediately executed ●  Program use downloads bytecodes from a computer and delays their execution
  • 7. Slego ●  Playarea is used for defining the behavior of a morph. This behavior is translated into a list of instructions ●  Current implementation only supports cars (two independent coaxial wheels)
  • 8. Compiler ●  Takes as input a program composed of high level instructions such as: turnLeft, turnRight, walk, ... ●  This program is compiled in an intermediate language composed of primitive instructions such as: turnOnLeftMotor, turnOffLeftMotor, sound, ... ●  This last language acts as an assembler
  • 9. Takes as input a program composed of high level instructions such as: turnLeft, turnRight, walk, ...
  • 10. This program is compiled in an intermediate language composed of primitive instructions such as: turnOnLeftMotor, turnOffLeftMotor, sound, ...
  • 11. This last language acts as an assembler
  • 12. Compiler: an example TurnOnLeftMotor TurnOnRightMotor   (walk 46) 0010 wait 5 (turnRight 90) 1110 TurnOffLeftMotor (walk 51) 1010 TurnOffRightMotor (turnRight 90) 1011 (walk 46) TurnOnLeftMotor ... wait 2 TurnOffLeftMotor . RCX . .
  • 13. Demo Web: http://minnow.cc.gatech.edu/squeak/ ●  2412 Mail: bergel@iam.unibe.ch! ● 
  • 14. Future ●  Manage new sensors in Slego ●  Give accuracy ●  Extends Slego to other robot systems (antlj, ...)

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