Proceedings of FREENIX Track: 2000 USENIX Annual Technical Conference San Diego, California, USA, June 18–23, 2000 A N O P E R AT I N G S Y S T E M I N J AVA F O R T H E L E G O M I N D S T O R M S R C X M I C R O C O N T R O L L E R Pekka Nikander THE ADVANCED COMPUTING SYSTEMS ASSOCIATION © 2000 by The USENIX Association All Rights Reserved For more information about the USENIX Association: Phone: 1 510 528 8649 FAX: 1 510 548 5738 Email:
[email protected] WWW: http://www.usenix.org Rights to individual papers remain with the author or the author's employer. Permission is granted for noncommercial reproduction of the work for educational or research purposes. This copyright notice must be included in the reproduced paper. USENIX acknowledges all trademarks herein. An Operating System in Java for the Lego Mindstorms RCX Microcontroller Pekka Nikander Helsinki University of Technology
[email protected] http://www.tcm.hut.fi/~pnr/rcx/ Abstract A Lego Mindstorms Robot consists of a programmable Lego brick, called the RCX, which contains three sensor The Lego Mindstorms is a Lego bricks based robotics inputs, three actuator outputs, four user buttons, a sim- toy series produced by the Lego Group, based on the ple LCD display, an IR transceiver, and a Hitachi H8 ideas developed at the Massachusetts Institute of Tech- microcontroller with 32 kilobytes of RAM, 4 kilobytes nology in the Programmable Brick project.