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LEGO Mindstorms Hitachi H8-based RCX brick

B.A. Juliano, R.S. Renner, F. Jauregui January 2004. LEGO Mindstorms Hitachi H8-based RCX brick. California State University, Chico Intelligent Systems Laboratory Chico, CA 95929-0410 http://isl.ecst.csuchico.edu. LEGO Mindstorms. http://mindstorms.lego.com. Robotics Invention System 2.0.

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LEGO Mindstorms Hitachi H8-based RCX brick

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  1. B.A. Juliano, R.S. Renner, F. Jauregui January 2004 LEGO MindstormsHitachi H8-based RCX brick California State University, Chico Intelligent Systems Laboratory Chico, CA 95929-0410 http://isl.ecst.csuchico.edu

  2. LEGO Mindstorms • http://mindstorms.lego.com

  3. Robotics Invention System 2.0 • RIS Kit

  4. Contents of Kit • 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

  5. Compatibility • Not compatible with Windows NT or Windows 2000 operating systems.

  6. 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.

  7. About the Brick • LCD (Liquid Crystal Display) • Four buttons • One internal speaker • Three sensor inputs • Three actuator outputs • IR (Infrared) interface

  8. About the Brick • 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

  9. 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

  10. Software Architecture • System ROM Layer • Low level control software • Interface to hardware • Second piece of software • Firmware • Located in RCX ROM

  11. 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

  12. Caution • When changing batteries you may loose Firmware and all programs • Replace one at a time • Do within one minute

  13. Multi-Tasking • Threading • Multiple things at one time • Can create new threads to accomplish Multi-Tasking

  14. Put it All Together

  15. Hitachi H8/3292Microcontroller

  16. Hitachi H8/3292 diagram

  17. Hitachi H8/3292 package

  18. 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

  19. H8/3292 Block Diagram

  20. RCX Memory Layout

  21. Input Devices • 3 Sensors • 4 Buttons • Battery level monitor • Timers

  22. 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

  23. 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.

  24. Light Sensor cont. • Light measured as • 0% (total darkness) to • 100% (very bright).

  25. Light Sensor cont. photo-transistor

  26. 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.

  27. Touch Sensor

  28. 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

  29. 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

  30. Temperature Sensor

  31. Temperature Sensor cont.

  32. Temperature Sensor cont.

  33. Temperature Sensor cont.

  34. Output Devices • 3 Actuator Ports • 5-segment LCD • Speaker

  35. Bidirectional Device • Infrared port

  36. LegoOS Network Protocol (LNP) • Communication between brickOS and host computers • If packets arrive • Free of corruption • Collision problems

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