Page 5 - The Unofficial Guide to Lego Mindstorms Robots
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5. Minerva, a Robot with an Arm 82
Building Instructions 83
Programming 103
Directional Transmission 107
Pulleys 109
Mechanical Design 110
Two Sensors, One Input 112
Where Am I? 113
Online Resources 115
6. pbFORTH 116
Replacement Firmware 116
pbFORTH Overview 117
About Forth 121
pbFORTH Words 126
An Expensive Thermometer 137
Minerva Revisited 138
Debugging 142
Online Resources 143
7. A Remote Control for Minerva 145
Two Heads Are Better Than One 145
The Allure of Telerobotics 146
Building Instructions 147
Programming the Remote Control 151
Programming Minerva 154
Online Resources 157
8. Using Spirit.ocx with Visual Basic 159
You May Already Have Visual Basic 159
About Spirit.ocx 160
Calling Spirit.ocx Functions 161
Immediate and Delayed Gratification 163
Programs, Tasks, and Subroutines 164
Tips 165
Retrieving the Datalog 168
Online Resources 171
