Chapter 9: Using the LEGO MindstormsTM robots
In this chapter, you will learn how to use Webots with the LEGOTM MindstormsTM robots. LEGOTM MindstormsTM is a series of LEGOTM products allowing one to build robots from LEGOTM bricks. A special brick called RCX is used to control the robot. This brick contains a micro-controller chip, an LCD display, a buzzer, 3 sensor inputs and 3 actuator outputs. Available sensors include touch sensors, light sensors, rotation sensors and temperature sensors. Actuators include motors and lights. The basic box, called the "Robotics Invention System," includes two motors, two touch sensors and one light sensor. This chapter will be based on this basic box. However, Webots is not limited to this basic box and you could easily go beyond this chapter by creating much more complex virtual robots based on advanced LEGOTM MindstormsTM elements.
The step by step instructions to build the Rover robot as depicted in figure 9.2 are provided on the Webots CD-ROM (and also available online). This robot will be used thoughout this tutorial.
The first section of this chapter describes the Webots model corresponding to the Rover robot. It explains how to program its controller in Java and how to compile it.
The second section explains how to cross-compile the Java controller used for simulating the Rover in Webots. Once cross-compiled, your controller can be uploaded into a real Rover robot!
9.1 Webots model of the Rover robot
9.2 Transfering to the real Rover robot
^ page top ^