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Tables of Contents for The Unofficial Guide to Lego Mindstorms Robots
Chapter/Section Title
Page #
Page Count
Preface
xi
Welcome to Mindstorms
1
13
What Is a Robot?
2
1
Mobile Robots
2
4
What Is Mindstorms?
6
5
What Now?
11
1
Online Resources
11
3
Hank, the Bumper Tank
14
25
About the Building Instructions
14
2
Building Instructions
16
9
A Simple Program
25
2
Wheels
27
4
Bumpers and Feelers
31
1
Gears
31
5
Multitasking
36
1
Online Resources
37
2
Trusty, a Line Follower
39
14
Building Instructions
40
4
Some Tricky Programming
44
4
The Light Sensor
48
2
Idler Wheels
50
1
Using Two Light Sensors
50
2
Online Resources
52
1
Not Quite C
53
29
A Quick Start
54
1
RCX Software Architecture
55
3
NQC Overview
58
19
Trusty Revisited
77
4
Online Resources
81
1
Minerva, a Robot with an Arm
82
34
Building Instructions
83
20
Programming
103
4
Directional Transmission
107
2
Pulleys
109
1
Mechanical Design
110
2
Two Sensors, One Input
112
1
Where Am I?
113
2
Online Resources
115
1
pbFORTH
116
29
Replacement Firmware
116
1
pbFORTH Overview
117
4
About Forth
121
5
pbFORTH Words
126
11
An Expensive Thermometer
137
1
Minerva Revisited
138
4
Debugging
142
1
Online Resources
143
2
A Remote Control for Minerva
145
14
Two Heads Are Better Than One
145
1
The Allure of Telerobotics
146
1
Building Instructions
147
4
Programming the Remote Control
151
3
Programming Minerva
154
3
Online Resources
157
2
Using Spirit.ocx with Visual Basic
159
14
You May Already Have Visual Basic
159
1
About Spirit.ocx
160
1
Calling Spirit.ocx Functions
161
2
Immediate and Delayed Gratification
163
1
Programs, Tasks, and Subroutines
164
1
Tips
165
3
Retrieving the Datalog
168
3
Online Resources
171
2
RoboTag, a Game for Two Robots
173
16
Building Instructions
174
5
Subsumption Architecture
179
9
Online Resources
188
1
legOS
189
27
About legOS
189
1
Development Tools
190
2
Hello, legOS
192
1
Function Reference
193
11
New Brains for Hank
204
7
Development Tips
211
2
Online Resources
213
3
Make Your Own Sensors
216
15
Mounting
216
3
Passive Sensors
219
2
Powered Sensors
221
3
Touch Multiplexer
224
2
Other Neat Ideas
226
1
What About Actuators?
226
1
Online Resources
227
4
A. Finding Parts and Programming Environments
231
4
B. A pbFORTH Downloader
235
5
C. Future Directions
240
3
Index
243