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.
First you have to install the SqLego files
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
Thanks to Andreas Hosbach and Roel Wuyts.