Lego Mindstorm can be easily controlled within Squeak. The PECOS model is a component model focused on embedded system. It has been implemented in Squeak.

PECOS The PErvasive COmponent System is a component based model for embedded systems. It consists mainly of components communication throught ports connected with connections. There are three component types:

• Active Component: Runs in its own thread.
• Event Component: Runs in an own thread if a certain event has taken place
• Passive Component: Encapsulates program logic and is called by other components. (Runs in the callers thread)

RCX The RCX is the main brick of the Lego Mindstorms RIS. It’s a Hitachi Microprocessor board with some external ports. These ports are either input (through an A/D converter) or output. There are three of each kind.

Download

First you have to install the SqLego files

• http://www.iam.unibe.ch/~bergel/Lego/SqLego.tar
• http://www.iam.unibe.ch/~bergel/Lego/PecosRcx.tar

Install: File in all the *.st files. First the SqLego then Pecos-System then Pecos-RCX then PECOS-Tests

There is also a Monticello File at: http://www.iam.unibe.ch/~bergel/Lego/PECOS-ho.1.mcz

Links

Squeak: http://www.squeak.org/

SqueakBot: http://www.iutc3.unicaen.fr/~stincs/share/SqueakBot/

PECOS:

• http://www.pecos-project.org/publications.html
• http://www.iam.unibe.ch/~pecos/

Lego Mindstorms:

• http://www.apesa.ch/
• http://www.object-arts.com/Bower/Bot-Kit/Bot-Kit.htm
• http://www.crynwr.com/lego-robotics/
• http://www.idi.ntnu.no/grupper/ai/research/eval/lego_links.html
• http://java.sun.com/features/2002/05/robot.html
• http://www.hamjudo.com/rcx/
• http://www.vorlesungen.uniosnabrueck.de/informatik/robot00/doc/lego/LASM_Bytecodes.pdf
• http://www.vorlesungen.uni-osnabrueck.de/informatik/robot00/doc/lego/LASM_Bytecodes.pdf

Contacts

Alexandre Bergel

Acknowledgment

Thanks to Andreas Hosbach and Roel Wuyts.