History of LEGO Mindstorms

[Toastie]

On 9/14/2023 at 4:16 PM, Coder Shah said:

and is similar in concept to LEGO Boost.

You mean regarding the PBrick having two built-in motors, sensor inputs, wireless communication, right?

The basic concept of programmable LEGO stuff - as with all other microcontroller based technologies way before - has been essentially the same since the 4.5V Technic Control era from 1986:

Sensor reading -> input to controller -> processing of input within controller -> output of controller to actuator. And the latter may affect the reading of the sensor and that may be used for setting up feedback loops. Yeah, I know, everybody knows that. And since 3 and 1/2 decades, LEGO line followers are reinvented ... 

Of course, many things have changed over the past 3 and 1/2 decades [computing power in general; #inputs and #outputs (well, not that much in LEGO world); communication means (cable, IR, RF), protocols, and speed; sensor/ADC resolution, sensor types etc. pp.]. But the concept naturally remains the same.

One of the nice things about CyberMaster is that once you learned to play with LEGO byte codes, you knew how to program RCX', Scouts and Spybotics as well. Even better, with NQC you even had a C'ish programming language, which simply translates your code to LEGO byte code. And with BricxCC and IDE, which allows you to monitor CyberMaster PBricks as well as the other PBrcks listed above, even CodePilot and MicroScouts using VLL when you had the LEGO USB tower.

The 27 MHz band CyberMaster is using as RF carrier frequency ... was a bit congested back in the days, as no Wireless Communication Police would show up even after blocking the entire 27 MHz band with a 10kW RF generator . Today, that frequency band is mostly nice and clean again - as we even run microwave ovens in the 2.4GHz bands - where BLE is also sending its data packets through the ether. And we switch to 5GHz as it becomes as congested as 27MHz was a long time ago.

Best regards,
Thorsten

Edited September 17, 2023 by Toastie

[Coder Shah]

On 9/14/2023 at 11:05 PM, Toastie said:

You mean regarding the PBrick having two built-in motors, sensor inputs, wireless communication, right?

Yes! Also all the processing was done by the computer and you can't store a program on the hub.

[Toastie]

11 hours ago, Coder Shah said:

Also all the processing was done by the computer and you can't store a program on the hub.

Well, that is not exactly true.

The CyberMaster PBrick (CM) has a whopping 396 bytes of free RAM available for storing LEGO byte codes (as the SCOUT has as well). Sounds not that much, but you can do a lot with the CM specific commands and functions! The tacho motors alone are a blast.

The easiest way to program the CM PBrick is BricxCC/NQC; TLGs own PBrick control programs can do that as well. The CM RF tower behaves exactly as the serial IR tower for the RCX, SCOUT, Spybotics. All the specifics of the CM PBrick are in the NQC Guide file:

I just fired up my CyberMaster PBrick and took a screenshot - this is what I got upon a little analysis run.

As you can see, the CM can run 4 tasks and 4 subroutines in parallel. It has 32 (global only) variables.

BTW: When the CyberMaster PBrick noticed, you called it a "hub", it played "Hell's Bells" (yes, the built-in sound features are cool!)

All the best,
Thorsten

P.S.: Here is a link to one of TLG's documents - there actually was a time, long ago, in a galaxy far away, when they accurately documented their hard/software stuff:
http://www.activevb.de/rubriken/mindstorms/downloads/pbrick.pdf 

Edited September 17, 2023 by Toastie

[Lego Tom]

1 hour ago, Toastie said:

Well, that is not exactly true.

The CyberMaster PBrick (CM) has a whopping 396 bytes of free RAM available for storing LEGO byte codes (as the SCOUT has as well). Sounds not that much, but you can do a lot with the CM specific commands and functions! The tacho motors alone are a blast.

The easiest way to program the CM PBrick is BricxCC/NQC; TLGs own PBrick control programs can do that as well. The CM RF tower behaves exactly as the serial IR tower for the RCX, SCOUT, Spybotics. All the specifics of the CM PBrick are in the NQC Guide file:

I just fired up my CyberMaster PBrick and took a screenshot - this is what I got upon a little analysis run.

As you can see, the CM can run 4 tasks and 4 subroutines in parallel. It has 32 (global only) variables.

BTW: When the CyberMaster PBrick noticed, you called it a "hub", it played "Hell's Bells" (yes, the built-in sound features are cool!)

All the best,
Thorsten

P.S.: Here is a link to one of TLG's documents - there actually was a time, long ago, in a galaxy far away, when they accurately documented their hard/software stuff:
http://www.activevb.de/rubriken/mindstorms/downloads/pbrick.pdf 

Wow - thanks for the link! Lot's of reading in my future.

[Coder Shah]

Mindstorms History 38
2002 - LEGO released Spybotics. These four sets shared the same core brick, albiet with different builds and colors, and you could send them on missions.

 

On 9/17/2023 at 8:34 PM, Toastie said:

Well, that is not exactly true.

Thanks for the correction!

[Coder Shah]

Mindstorms History 39
1997 - LEGO released set 8479 Barcode Multi set. This set comes with a Code Pilot brick that can be programmed with bar codes.

 

[Mr Jos]

Loved playing with that barcode garbage truck, it was one of the first bigger Lego sets I got, received from friends from my parents. Hours and lots of batteries went into that thing.

[Toastie]

On 9/28/2023 at 4:13 AM, Coder Shah said:

Code Pilot brick that can be programmed with bar codes.

Maybe worth mentioning that the "program language" is encoded with TLG's very own visible light link (VLL) protocol. The same is true for the MicroScout; it talks VLL as well. The code set is a little different for the two PBricks (https://www.eurobricks.com/forum/index.php?/forums/topic/188584-mulpi-a-multiple-lego-remote-protocol-interface/).

In addition, TLG's USB IR tower had a "visible" (white) LED in addition to the IR LED (on the serial tower); BricxCC as well as TLG's "Scout tool" know ho to operate that feature. TLG never made a USB driver for post WinXP operating systems, which is, well, the modern and typical TLG style behavior. In other words: Bastards; they just cut it short.

VLL protocol, the plastic fiber optical cables, MicroScouts, CodePilot, wonderful, all TLG stuff ... and the best part is: The SCOUT PBrick natively talks the VLL protocol, and can operate both, CodePilot and MicroScout PBricks - just use the output "C" (which is the SCOUT's visible LED mounted on the front, not white, but bright red) ...

All the best,
Thorsten

Edited September 29, 2023 by Toastie

[dustblue]

I just bought a set of 51515, got a question though, does anyone know why the angular motor exists at all? I mean what is angular motor can do but PU L motor can not? I saw lego specifications and the torque is not much bigger for angular motors, but the mechanical power is definately less than PU L motors. So other than the shape(4 more pin holes other than axle hole), what's the angular motor's advantage against regular motors?

[Coder Shah]

Mindstorms History 40
2017 - LEGO released LEGO Boost. It comes with programmable brick incorporating two motors and two ports, a third separate motor and a combination color and distance sensor. 

 

[Coder Shah]

That's all folks! Thank you LEGO for 25 years of programmable robots!

 

[Toastie]

Thank you @Coder Shah for this marvelous thread.

As far as I am concerned, it should be pinned, as it is of great value to the robotics heads in this forum. Topics like this one readily drown in contest entries and so on. This is a true reference thread - and is an inherent part of this forum.

All the best,
Thorsten

[evank]

On 10/12/2023 at 1:11 PM, Coder Shah said:

That's all folks! Thank you LEGO for 25 years of programmable robots!

 

Not to rain on your parade, but if your goal was a complete Lego robotics timeline then why don't you have any of the pre-Mindstorms stuff?

[elfprince13]

On 9/29/2023 at 6:15 PM, Toastie said:

Maybe worth mentioning that the "program language" is encoded with TLG's very own visible light link (VLL) protocol. The same is true for the MicroScout; it talks VLL as well. The code set is a little different for the two PBricks (https://www.eurobricks.com/forum/index.php?/forums/topic/188584-mulpi-a-multiple-lego-remote-protocol-interface/).

In addition, TLG's USB IR tower had a "visible" (white) LED in addition to the IR LED (on the serial tower); BricxCC as well as TLG's "Scout tool" know ho to operate that feature. TLG never made a USB driver for post WinXP operating systems, which is, well, the modern and typical TLG style behavior. In other words: Bastards; they just cut it short.

VLL protocol, the plastic fiber optical cables, MicroScouts, CodePilot, wonderful, all TLG stuff ... and the best part is: The SCOUT PBrick natively talks the VLL protocol, and can operate both, CodePilot and MicroScout PBricks - just use the output "C" (which is the SCOUT's visible LED mounted on the front, not white, but bright red) ...

All the best,
Thorsten

I've seen an unreleased "Micro Scout PC Link" set referenced in a few places and I'd been wondering what that was about. Sounds like it might just have turned out to be using the white LED on the USB IR tower as a remote?

[Toastie]

1 hour ago, elfprince13 said:

I've seen an unreleased "Micro Scout PC Link" set referenced in a few places and I'd been wondering what that was about. Sounds like it might just have turned out to be using the white LED on the USB IR tower as a remote?

Yes, exactly; works nicely with the optical LEGO "fibers"

This link is also good for programming the Spybotics PBricks, if you don't have the original Spybotics "serial interface" - which is a simple but clever way of hooking up a VIS LED and VIS photo-transistor directly to the RS232 port of a PC. 

You can also connect a Scout via such a fiber link to the MicroScout - it will then act as a third motor for the Scout.

Best,
Thorsten

Edited January 4, 2024 by Toastie

[elfprince13]

1 hour ago, Toastie said:

Yes, exactly; works nicely with the optical LEGO "fibers"

You can also connect a Scout via such a fiber link to the MicroScout - it will then act as a third motor for the Scout.

oh the fiber optics is a neat twist. do you have a thread somewhere showing that setup? I'm curious how many extra parts are needed to hold it all together.

[Toastie]

42 minutes ago, elfprince13 said:

do you have a thread somewhere showing that setup?

No, I don't - however, TLG had it all well-prepared, but never really told us ^^ ...

All you need: Two "Technic pins 1/2" (http://www.peeron.com/inv/parts/4274), and the fiber (it really is a flexible plastic tube), any of the "x400" lengths (http://www.peeron.com/inv/parts/x400).

The "fibers" fit tightly into the long section of the pins and these attach nicely to the tower and the MicroScout's light sensor using the short section. There is some kind of "lens" on the MicroScout's sensor window; just push the fiber all the way through the pin, then attach the pin with fiber to the MicroScout - this pushes the fiber back as far as necessary, resulting in a tight "light connection". That's all.

Just a tip: I believe, the MicroScout's firmware "calibrates" the light sensor upon startup. When exposed to bright light upon startup, it is tough to get the sensors "attention". Some kind of ambient light protection helps a lot with regard to reliable visible light controlled operation of the MicroScout.

BTW, this all works very nicely with >10 feet of "real optical fiber" - you need to firmly attach this type of fiber to the pin though; LEGO flextube does a good job here. I am using MicroScouts controlled by a Scout to flip train switches:

Best,
Thorsten

 

 

Edited January 4, 2024 by Toastie

[elfprince13]

3 minutes ago, Toastie said:

No, I don't - however, TLG had it all well-prepared, but never really told us ^^ ...

All you need: Two "Technic pins 1/2" (http://www.peeron.com/inv/parts/4274), and the fiber (it really is a flexible plastic tube), any of the "x400" lengths (http://www.peeron.com/inv/parts/x400).

The "fibers" fit tightly into the long section of the pins and these attach nicely to the tower and the MicroScout's light sensor using the short section. There is some kind of "lens" on the MicroScout's sensor window; just push the fiber all the way through the pin, then attach the pin with fiber to the MicroScout - this pushes the fiber back as far as necessary, resulting in a tight "light connection". That's all.

Just a tip: I believe, the MicroScout's firmware "calibrates" the light sensor upon startup. When exposed to bright light upon startup, it is tough to get the sensors "attention". Some kind of ambient light protection helps a lot with regard to reliable visible light controlled operation of the MicroScout.

that's awesome - I had no idea that little sensor window hole was pin / stud sized! This is actually perfect as I've been pondering that the MicroScout tucked away inside would be a great standalone smart brick for incorporating some motorized functions into a big spaceship build, but hadn't settled on how to control it pseudo-remotely yet.

[Coder Shah]

On 10/16/2023 at 6:48 AM, evank said:

Not to rain on your parade, but if your goal was a complete Lego robotics timeline then why don't you have any of the pre-Mindstorms stuff?

Um, because my budget and interests are limited? Anyway feel free to post your stuff here, I'm sure you have a lot to share!

On 10/13/2023 at 3:12 AM, Toastie said:

Thank you @Coder Shah for this marvelous thread.

You're most welcome! Feel free to share your stuff too!

I made a little video showing my Mindstorms collection, hope you like it!

https://www.youtube.com/shorts/Ev2279pYoGw

Edited January 21, 2024 by Coder Shah

[Coder Shah]

Since LEGO is heavily promoting LEGO Space, here's an article about the first LEGO Mindstorms robot in space.

https://www.ots.at/presseaussendung/OTS_20011214_OTS0024/lego-mindstorms-roboter-bewaehrt-sich-im-weltall-kosmonauten-testeten-spielzeugroboter-auf-der-iss?_x_tr_sl=id&_x_tr_tl=en&_x_tr_hl=en&_x_tr_pto=wapp

Translation as follows:

LEGO MINDSTORMS robot proves itself in space - cosmonauts tested toy robots on the ISS

- Cross-reference: TV images are available as original video service (ovs) and are available via

http://www.presseportal.de/galerie.htx? type=ovs

- Cross-reference: Image will be sent during the day via obs and is available at:

http://www.presseportal.de/galerie.htx? type=obs

Munich (ots) - The LEGO MINDSTORMS robot "Jitter" has proven its functionality in weightlessness on the International Space Station (ISS). On the 12th In December, the cosmonauts Yuri Onufrienko, Mikhail Tyurin and Vladimir Deshurov tested the robot that collects flying objects in the ISS. During two exciting direct transmissions to the Russian Space Control Center near Moscow, his inventors, Konrad and Bastian Schwarzbach from Krefeld, observed the experiment and talked to the cosmonauts.

When the crew heard that a toy should be tested, they were very surprised, but soon found out the strengths of LEGO MINDSTORMS, as Commander Onufrienko confirms: "A wonderful toy with which you can communicate and opens up new horizons." Even before the live broadcast, the cosmonauts had become familiar with the robot and discovered amazing similarities: "The opportunity to study the robot is highly interesting, as the same basic ideas are used in the stabilization and position control of the space station," commented Mikhail Tjurin.

The graduate engineer Konrad Schwarzbach (50) and his son Bastian (21), community service provider, are the winners of a unique LEGO construction competition. LEGO fans were asked to build a robot that works in weightlessness and can perform a useful task on the ISS. On the 26th In November, the best robot launched a Soyuz rocket from the Baikonur Spaceport, Kazakhstan.

124 participants wanted to prove themselves as new talents in robot research in the LEGO Ultimate Builders Competition design competition. Ten finalists had made it to the jury meeting in October. "All of the teams that competed here are already winners and prove the successful experiment of how the ISS can be used meaningfully and excitingly for education as a project of state-funded basic research," said jury patron Dr. Ulf Merbold, Germany's most famous astronaut. In addition to scientists, the top-class jury also included LEGO MINDSTORMS experts and the sponsors Siemens AG and Hitachi Europe Ltd.

The programming of the robot Jitter took place in Java. Its primary purpose is to collect objects floating around on the ISS - such as on the 12th. December a film cartridge. It is based on the ceiling light of the ISS by means of a light sensor and actuates pulse drive via three axes. If the robot hits on the wall, it is moved forward. Jitter recognizes flywheels with which he then aligns himself. The movement takes place by objects with the help of the light sensor, which he uses like a sonar system. Reflected light comes back with a certain strength, so it recognizes objects. Then he snaps.

LEGO MINDSTORMS products expand the unlimited creativity of the LEGO game around the world of the computer. Through a programmable building block, LEGO MINDSTORMS allows young and adult computer fans to bring their LEGO creations to life and to invent new robots again and again.

Siemens is a global leader in electronics and electrical engineering based in Munich. More than 460,000 employees form a global network of knowledge and competence. In over 190 countries around the world, they embody the company's global presence. The customer benefit is at the center of all actions. For this purpose, Siemens offers innovative products, solutions and services from the fields of Information and Communications, Automation and Control, Power, Transportation, Medical and Lighting. The highest quality and the greatest reliability are the company's standards. More about Siemens at http://www.siemens.com

Hitachi Ltd. is based in Tokyo (Japan) and is a world-leading, globally active electronics company. The company produces and markets a wide range of products, which include computers, semiconductors, consumer products, high-voltage and industrial equipment. Further information can be found at http://global.hitachi.com. The Electronic Components Group (ECG) of Hitachi Europe Ltd. is represented with branches throughout Europe and is active in the Smart Card, Communications, Automotive, Displays and System LSI business units for sales, marketing, technical support as well as in the research and development of important components.

******
ATTENTION TV EDITORIAL OFFICES:
On this subject, free TV images are available as part of the original video service (ovs), which are transferred via ATM. You can order them via our partner, the news agency RTC-Tvnews <http://www.rtc-tvnews.de>, with the keyword "ovs" at Fon 040/85 33 58-0 or footage@newsaktuell.de.

ots original text: LEGO GmbH

Questions & contact:

LEGO GmbH
Ulrica Griffiths, PR Manager
Tel.: 089 - 45346 - 277

Georg Wolf, Brand Manager
Tel.: 089 - 45346 - 306

MMK (PR agency)
Kathrin Müller
Tel.: 040 - 31804 - 161
Kathrin_Mueller@mmk-pr.de

Susanne Mewes
Tel.: 040 - 31804 - 135
Susanne_Mewes@mmk-pr.de

Photo and video material at News Aktuell
http://www.presseportal.de
footage@newsaktuell.de

http://www.legomindstorms.com/spacecompetition

OTS ORIGINAL TEXT UNDER THE SOLE RESPONSIBILITY OF THE SENDER FOR THE CONTENT | EUN/OVS