LEGO MINDSTORMS Robots

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