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In the program examples given in the previous section, the communications port, such as COM1 or COM2, is opened so the spirit.ocx component can send signals out of the Mindstorm s IR tower. This is done with the .InitComm statement. In each of the program examples we just examined, the communications port is left open. This is to simplify download timing, but in general it s not an advisable practice because it leaves the communications port opened, and therefore locked against use by other programs on your computer. Use the .CloseComm statement to close the communications port. You can integrate this statement with your programs for example, as the last command sent to the RCX. However, you must be careful not to close the communications port before downloading is complete or else your program will not function properly. One way to get around this is to use a waiting loop in VB; another is to use the DownloadDone event, which is a signal sent by the RCX when it has received all of its programming. The PBrick documentation from LEGO explains how to use the DownloadDone event. Yet another approach is to specifically run a small program that closes the communications port. Here s all the code you really need for the job:

time of writing, this has to be done through the Structure window. Right-click the train-stop and insert a display-name and set the Text property on this component.

There are many more things you can do with the spirit.ocx component and VB/VBA, including reading sensor values (this is done with the Poll statement), adjusting the power output of the IR tower, even turning the RCX off remotely. Sadly, we don t have the room to delve into these subjects in more detail. Fortunately, you can turn to the PBrick documentation provided by LEGO on the Mindstorms Web site (www.mindstorms.com) for additional information. Be sure to also check out the additional examples and resources on RCX programming at the support site for this book, www.robotoid.com.

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At last count, there were over a dozen programming alternatives for the LEGO Mindstorms RCX. One of the first, and still one of the most popular, is NQC the letters stand for Not Quite C. NQC is a stand-alone, text-based programming environment for the RCX. It is capable of performing the same basic programming functions as the Visual Basic approach, described earlier, but the programming language is radically different. NQC is a freely distributed program available at http://www.enteract.com/~dbaum/nqc/. Versions of NQC are available for Windows-based systems, as well as the Apple Macintosh

that data is read from the addressed port (Figure 7.20).

and Linux. Fetch the version you want, and place the NQC files in their own directory on your computer s hard disk drive. Assuming the IR tower is properly connected to your computer and the Mindstorms software has been previously installed, you re ready to go! Note that the following steps assume you re using a Windows-based PC. Consult the documentation that comes with NQC if you are using a different computer.

A further option for using task flows is to display a task flow as a pop-up window. So, instead of appearing as a separate page in the browser, or within a region, a task flow can be displayed in a modal dialog.

As its name suggests, Not Quite C uses a C-language syntax for programming. For those unfamiliar with C, the syntax can look daunting. However, with just a little bit of study, you ll find NQC is not difficult to use. If anything, it s often easier to interact with the RCX using NQC than with Visual Basic. You may use any text editor to prepare an NQC file. In Windows, for example, you can use the Notepad program. You should store your NQC program files in the same directory as the nqc.exe program itself. Listing 14.2 shows a simple NQC program that does an amazing amount of computational work. Run this program on an RCX with two motors attached to the A and C outputs and with a light sensor connected to Input 1 and pointing forward. When you do, the RCX will seek out any bright light in the room. Aim a flashlight at the light sensor, for example, and the robot will come toward the light. Figure 14.2 shows the prototypical RCX rover robot, set up for the sample programs in this section.

the CPU or the DMA controller wants to write data into the addressed memory location (Figure 7.21).

task main() { SetPower(MOTOR, 7); SetDirection (MOTOR, OUT_REV); SetSensorType(LIGHT, SENSOR_TYPE_LIGHT); while(true) { if(LIGHT > 60) On(MOTOR); else Off(MOTOR); } }

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