<HTML ><HEAD ><TITLE >Mindstorm $B$N%"!<%-%F%/%A%c(B</TITLE ><META NAME="GENERATOR" CONTENT="Modular DocBook HTML Stylesheet Version 1.54"><LINK REL="HOME" TITLE="Lego Mindstorm with Linux Mini-HOWTO" HREF="index.html"><LINK REL="PREVIOUS" TITLE="$B$O$8$a$K(B" HREF="intro.html"><LINK REL="NEXT" TITLE="LegOS" HREF="legos.html"></HEAD ><BODY CLASS="SECT1" BGCOLOR="#FFFFFF" TEXT="#000000" ><DIV CLASS="NAVHEADER" ><TABLE WIDTH="100%" BORDER="0" CELLPADDING="0" CELLSPACING="0" ><TR ><TH COLSPAN="3" ALIGN="center" >Lego Mindstorm with Linux Mini-HOWTO</TH ></TR ><TR ><TD WIDTH="10%" ALIGN="left" VALIGN="bottom" ><A HREF="intro.html" >Prev</A ></TD ><TD WIDTH="80%" ALIGN="center" VALIGN="bottom" ></TD ><TD WIDTH="10%" ALIGN="right" VALIGN="bottom" ><A HREF="legos.html" >Next</A ></TD ></TR ></TABLE ><HR ALIGN="LEFT" WIDTH="100%"></DIV ><DIV CLASS="SECT1" ><H1 CLASS="SECT1" ><A NAME="BASICS" >2. Mindstorm $B$N%"!<%-%F%/%A%c(B</A ></H1 ><DIV CLASS="SECT2" ><H2 CLASS="SECT2" ><A NAME="AEN61" >2.1. $B4pK\%O!<%I%&%'%"(B</A ></H2 ><P > $B$4B8CN$J$$J}$N$?$a$K=q$-$^$9$,!"(BLego $B$N(B Mindstorm $B$N%-%C%H$O!"(B $B%m%\%C%H9)3X$N%-%C%H$G!"(BLego $B%0%k!<%W$+$iLs(B 200 US $B%I%k$GH/Gd(B $B$5$l$F$$$^$9!#%-%C%H$NCf?H$O!"(BLego $B$N$?$/$5$s$N%V%m%C%/$H!$(BRCX $B$H$$$&$b$N(B (CPU $B$H(B LCD $B$H$$$/$D$+$N%3%M%/%?$,IU$$$?Bg$-$J%V%m%C(B $B%/(B) $B$H!"Fs$D$N%b!<%?$H!"(B($B303&$H$N8r?.MQ$N(B) $B8w%;%s%5$HFs$D$N%?%C(B $B%A%;%s%5$G$9!#(B </P ><P > RCX $B%-%C%H$N8=:_$N%j%j!<%9$O!"%P!<%8%g%s(B 1.5 $B$G!"(B2001 $BG/$N=U!"(B RCX 2.0 $B$KCV$-49$o$kM=Dj$G$9!#:#$N$H$3$m!"$3$NJ8=qFb$G(B <SPAN CLASS="QUOTE" >"RCX"</SPAN > $B$H8@$C$?;~$O!"(B<SPAN CLASS="QUOTE" >"RCX 1.x"</SPAN > $B$r0UL#(B $B$7$^$9!#(B1.0 $B$H(B 1.5 $B$N0c$$$O!":3:Y$G$9$,!"(B1.5 $B$+$i(B 2.0 $B$X$NJQ99(B $B$O$+$J$jBg$-$J$b$N$G$9(B - $B87L)$JJQ99$NHO0O$O!"$^$@!"$o$+$j$^$;$s!#(B </P ><P > $B$b$C$H%O!<%I%&%'%"$N>\:Y$r3X$S$?$$$J$i(B ($B$H$O$$$(!"$=$l$i$O(B RCX $B$N%W%m%0%i%`$N0l8l0l8l$,2?$r0UL#$7$F$$$k$N$+$r8+$k$?$a$K!"C`8l(B $BE*$K%G%#%9%"%;%s%V%k$7$F$$$k?M$?$A$+$i$NJs9p$J$N$G!"FI$`$N$,%$(B $B%d$K$J$k$/$i$$>\$7$+$C$?$j$9$k$N$G$9$,(B)$B!"Fs$D$N=EMW$J%&%'%V%5(B $B%$%H$,$"$j$^$9(B - <A HREF="http://www.crynwr.com/lego-robotics/" TARGET="_top" >Russell Nelson's Lego Mindstorms Internals</A > $B$H(B <A HREF="http://graphics.stanford.edu/~kekoa/rcx/" TARGET="_top" >Kekoa Proudfoot's RCX Internals</A > $B$rK,$l$F$/$@$5$$!#(B </P ></DIV ><DIV CLASS="SECT2" ><H2 CLASS="SECT2" ><A NAME="AEN70" >2.2. $BI8=`$N(B RCX $B%W%m%0%i%_%s%0(B</A ></H2 ><P > Linux $B$+$i(B Mindstorm $B$rF0:n$5$;$k$?$a$N$$$m$$$m$JJ}K!$rM}2r$9$k(B $B$?$a$N<j$,$+$j$O!"$O$8$a$K!"(BMindstorm $B%-%C%H$,(B MS Windows $B$G@5>o(B $B$KF0:n$7$F$$$k;~$N;EAH$rM}2r$9$k$3$H$G$9!#(B $B4JC1$K8@$&$H!"(BLego $B$+$iDs6!$5$l$k(B MS Windows $B>e$N%=%U%H%&%'%"%D!<(B $B%k$r;H$($P!"C/$G$b(B ($B$"$k$$$O$?$V$s!"(B12-14 $B:M$/$i$$$N;R6!$,(B) $B$A$g(B $B$&$I@QLZ$rAH$_N)$F$k$h$&$J463P$G!"%0%i%U%#%C%/$rA`:n$7$F(B Mindstorm $BMQ$N%W%m%0%i%`$r:n@.$G$-$^$9!#$3$NJ}K!$G%W%m%0%i(B $B%`$,(B <SPAN CLASS="QUOTE" >"$BAH$_N)$F(B"</SPAN > $B$i$l$k$H!"$=$N%=%U%H%&%'%"$O!"%W(B $B%m%0%i%`$r(B byte-code $B$K%3%s%Q%$%k$7$^$9!#<!$K!"$3$N(B byte-code $B$O!"%m%\%C%H$K%@%&%s%m!<%I$5$l!"$=$7$F$=$3$G!"(BRCX $B$N%U%!!<%`%&%'(B $B%"$,(B byte-code $B$r=hM}$7!"(Bbyte-code $B$NL?Na$K4p$E$-%^%7%s$r@)8f(B $B$7$^$9!#(Bbyte-code $B$N9=J82r@O$K2C$(!"(BRCX $B%U%!!<%`%&%'%"$O!"(BOS $B$K;w$?B?$/$N5!G=$r;}$C$F$$$^$9(B - $B%O!<%I%&%'%"$N@)8f!"%9%l%C%I!"(B $B$=$7$F!"FC$K%m%\%C%H$H$NDL?.$K;H$o$l$k(B IR $B%]!<%H$N@)8f$N5!G=$G(B $B$9!#(BIR $B%]!<%H$+$i$N(B ($B40A4$J%W%m%0%i%`$KHf$7$F(B) $BFCJL$J%3%^%s%I!"(B $B$b$7$/$O!"FCJL$J%j%b!<%H@)8f%3%^%s%I$r<uIU$1$kG=NO$b$"$j!"$=$l(B $B$i$N%3%^%s%I$K4p$E$-%m%\%C%H$rF0$+$7$^$9!#(B </P ><P > $BI8=`$N%U%!!<%`%&%'%"$O!"8=:_(B (RIS $B%P!<%8%g%s(B 1.5 $B$r9XF~$7$?$H$7(B $B$F$b(B) $B%P!<%8%g%s(B 1.0 $B$G$9!#$3$l$O!"$H$F$b?<9o$J@)8B$,$"$j$^$9(B - $B$?$H$($P!"$=$l$>$l$NJQ?t$O!"(BRAM $B$G$O$J$/!"%l%8%9%?$K3JG<$5$l$k$N(B $B$G!"$?$C$?(B 32 $B$NJQ?t$7$+;}$F$^$;$s!#$7$+$7!"$=$l$G$b$+$J$j$+$C$3(B $B$$$$$3$H$,$G$-!"%U%!!<%`%&%'%"$N%P!<%8%g%s(B 2.0 ($B$3$N%Y!<%?%P!<(B $B%8%g%s$,(B <A HREF="http://www.legomindstorms.com/sdk2/" TARGET="_top" >LEGO</A > $B$+$iF~<j$G$-$^$9!#(B) $B$G$O!"$3$l$i$N@)8B$,$+$J$j4KOB(B $B$5$l!"(B1.x $B%O!<%I%&%'%"$KBP$9$k2<0L8_49@-$bJ]$?$l$k$O$:$G$9!#(B </P ></DIV ><DIV CLASS="SECT2" ><H2 CLASS="SECT2" ><A NAME="AEN76" >2.3. Linux $B%D!<%k$,E,9g$9$k$H$3$m(B</A ></H2 ><P > Linux $B>e$G$N(B Mindstorms $B%W%m%0%i%`$O!"A0$N>O$G=R$Y$?%=%U%H%&%'(B $B%"$N%;%C%H$N0lIt$r$=$l$>$lFH<+$N%=%U%H%&%'%"$KCV$-49$($k$+$?$A(B $B$G5!G=$9$k$h$&$K$J$C$F$$$^$9!#$"$k%W%m%0%i%`$O!"I8=`$N(B Lego $B%U%!!<%`%&%'%"$rFH<+$N(B OS $B%i%$%/$J%7%9%F%`$d8@8l%$%s%?!<%W%j%?(B $B$X$H40A4$KCV$-49$($F$7$^$$$^$9!#$=$l0J30$N%W%m%0%i%`$O!"I8=`$N(B Lego byte-code $B$K0lCW$7$?(B byte-code $B$r@8@.$9$k$N$G!"$=$&$7$?(B byte-code $B$5$(@8@.$5$l$l$P!"$=$N2r<a(B($B%$%s%?!<%W%j%H(B)$B$K$OI8=`$N(B $B%U%!!<%`%&%'%"$r;H$$$^$9!#:G8e$K!"%m%\%C%H>e$G<B:]$K2?$+$r<B9T(B $B$9$k$?$a$N$b$N$rM?$($k$3$H$J$/!"%[%9%H(B PC $B$+$i%m%\%C%H$r@)8f$9(B $B$k$?$a$N%j%b!<%H@)8fMQ%3!<%I$@$1$r@8@.$9$k%W%m%0%i%`$b$"$j$^$9!#(B $B$=$&$7$?%W%m%0%i%`$N>l9g$b!"I8=`$N(B Lego $B%U%!!<%`%&%'%"$r;H$$$^$9!#(B </P ></DIV ><DIV CLASS="SECT2" ><H2 CLASS="SECT2" ><A NAME="AEN79" >2.4. Linux $B%[%9%HMQ%O!<%I%&%'%"$NI,?\>r7o(B</A ></H2 ><P > $B%D!<%k$NBgItJ,$O%3%^%s%I7A<0$J$N$G!"%O!<%I%&%'%"$NI,?\>r7o$O:G(B $BDc8B$G!"4pK\E*$K$I$s$J(B Linux $B%7%9%F%`$G$bF0:n$9$k$O$:$G$9!#(B </P ><P > $BNc30$,0l$D$@$1$"$C$F!"%7%j%"%k%]!<%H$O$I$&$7$F$bI,MW$G$9(B ($B:G?7(B $B$N%l%,%7!<%U%j!<$J%^%7%s$K$OL5$$$+$b$7$l$^$;$s(B)$B!#(BRCX $B$H$NDL?.(B $B$O!"%^%7%s$N%7%j%"%k%]!<%H$K$D$J$,$C$?(B IR tower $B$r7PM3$7$^$9!#(B $B$D$^$j!"%7%j%"%k%]!<%H$,$J$$%^%7%s$G$O%"%@%W%?$rGc$o$J$$$+$.$j(B RCX $B$r;H$($^$;$s!#$5$i$K!"(BIRQ $B$d%7%j%"%k%]!<%H$,6%9g$7$F$-$A$s(B $B$HF0$+$J$$$3$H$K$J$k$+$b$7$l$^$;$s!#$3$l$O!"FC$K!"%b%G%`$,(B /dev/ttyS0 $B$r;H$C$F$$$k>l9g$G$9!#BP=h$O#3$D$"$j$^$9(B - $B0l$D$O!"(B $B#2HVL\$N%7%j%"%k%]!<%H$r(B IR tower $BMQ$K;HMQ$7$^$9!#$[$H$s$I$N>l(B $B9g!"$3$l$GF0:n$9$k$O$:$G$9!#$3$l$G%@%a$J$i!"%b%G%`$H(B RCX $B$NF1(B $B;~;HMQ$r;_$a$^$9!#$3$l$,<u$1F~$l$i$l$J$$$J$i!"<!$K!"(B (<SPAN CLASS="QUOTE" >"extended dumb serial driver options"</SPAN > $B$N2<$N(B) <SPAN CLASS="QUOTE" >"support for sharing serial interrupts"</SPAN > $B$N%+!<%M(B $B%k%3%s%Q%$%k%*%W%7%g%s$rD4$Y!"$=$l$r%*%s$K$7!":F%3%s%Q%$%k$7$F(B $B$/$@$5$$!#(B </P ><P > Mac $B$OI8=`E*$J%7%j%"%k%]!<%H$,IU$$$F$$$J$$$N$G!"(BLinuxPPC $B%f!<%6(B $B$O%"%@%W%?$rF~<j$7!"%D!<%k$r;H$&$?$a$K$$$/$D$+$NJQ99$r$7$J$1$l(B $B$P$J$i$J$$$+$b$7$l$^$;$s!#(BNQC $B$N:n<T$G(B Mac $B%f!<%6$G$"$k(B Dave Baum $B$O!"$3$N$?$a$NJ}K!$r(B <A HREF="http://www.enteract.com/~dbaum/nqc/doc/faq.html#irmac" TARGET="_top" >$B@bL@(B</A >$B$G=q$$$F$$$^$9!#(B </P ></DIV ><DIV CLASS="SECT2" ><H2 CLASS="SECT2" ><A NAME="AEN87" >2.5. CyberMaster $B$H(B Scout</A ></H2 ><P > RIS $B$K2C$(!"(BLego $B$OB>$K#2$D$N%m%\%C%H9)3X%7%9%F%`$r:n$j$^$7$?(B - ($B%h!<%m%C%Q$@$1$GF~<j2DG=$J(B) CyberMaster $B$H(B Scout $B$G$9!#;DG0(B $B$J$,$i!"$3$l$i$,B>$N%D!<%k$HF0:n$9$k$N$O!"0l$D(B (<A HREF="nqc.html" >Section 5</A > $B$G=R$Y$k(B NQC) $B$@$1$N$h$&$G$9!#Bg$6$C$Q$J8@$$J}(B $B$r$9$l$P!"(BScout $B$N9XF~$r9M$($F$$$F!"$"$^$j>.8/$$$K:$$C$F$$$J$1$l(B $B$P!";W$$@Z$C$F(B RCX $B$r9XF~$7$J$5$$(B - $BDI2C$GJ'$C$?0J>e$N2ACM$,$"$j(B $B$^$9!#(B </P ></DIV ><DIV CLASS="SECT2" ><H2 CLASS="SECT2" ><A NAME="AEN91" >2.6. Mindstorm $B$N(B Vision Command</A ></H2 ><P > <A HREF="http://mindstorms.lego.com/products/vision/index.asp" TARGET="_top" >Vision Command</A > kit $B$O!"?7$7$/DI2C$5$l$?(B Mindstorm $B%7(B $B%j!<%:$N0l$D$G!"(BUSB $B%+%a%i$r;H$C$F2?$+$+$C$3$$$$$3$H$,$G$-$^$9!#(B $B;DG0$J$,$i!"(BUSB $B%+%a%i%5%]!<%H(B ($BFC$K(B USB Quickcam $B%5%]!<%H(B) $B$O!"(B $B$^$@!"(BLinux $B2<$G$OIT0BDj$G!"$3$N$?$a$3$N@=IJ$O(B Linux $B2<$G$O$^$@(B $B%5%]!<%H$5$l$^$;$s!#$=$l$r%O%C%/$7$?$$$J$i!"(B<A HREF="http://hotswap.in.tum.de/~acher/quickcam/quickcam.html" TARGET="_top" >$B$3$N%Z!<%8(B</A >$B$r8+$F$/$@$5$$!#$3$3$K$O!"$h$/;w$?(B Quickcam $B8~$1$N%I%i%$%P$b$"$j$^$9!#(B </P ></DIV ><DIV CLASS="SECT2" ><H2 CLASS="SECT2" ><A NAME="AEN96" >2.7. MS Windows CD $B$K$D$$$F$N=EMW$JCm0U(B</A ></H2 ><P > $B2<5-$N$?$/$5$s$N%W%m%0%i%`$,8x<0$N(B Lego $B%U%!!<%`%&%'%"$r;H$C$F(B $B$$$k$N$G!"(BMS Windows CD $B$,I,MW$+$b$7$l$^$;$s!#(BMS Windows $B$r%V!<(B $B%H$9$kI,MW$O$"$j$^$;$s(B - $B;~4V$rES@Z$l$5$;$:$K$9$_$^$9$M(B :) $B$7(B $B$+$7!"(B($B$H$j$o$1(B NQC $B$+(B RCX.pm $B$r<B9T$9$k$J$i(B) $BEECS@Z$l$N;~$K!"(B $B%U%!!<%`%&%'%"$rF@$k$?$a$K(B CD $B$r%^%&%s%H$9$kI,MW$,$"$k$+$b$7$l$^(B $B$;$s!#$J$k$Y$/%^%&%s%H$7$?$/$J$$$J$i!"(BCD $B>e$N%U%!%$%k(B <TT CLASS="FILENAME" >firm0309.lgo</TT > $B$rC5$7!"(BLinux $B%Q!<%F%#%7%g%s>e(B $B$N0BA4$J>l=j$K%3%T!<$7$F$/$@$5$$!#(B </P ></DIV ></DIV ><DIV CLASS="NAVFOOTER" ><HR ALIGN="LEFT" WIDTH="100%"><TABLE WIDTH="100%" BORDER="0" CELLPADDING="0" CELLSPACING="0" ><TR ><TD WIDTH="33%" ALIGN="left" VALIGN="top" ><A HREF="intro.html" >Prev</A ></TD ><TD WIDTH="34%" ALIGN="center" VALIGN="top" ><A HREF="index.html" >Home</A ></TD ><TD WIDTH="33%" ALIGN="right" VALIGN="top" ><A HREF="legos.html" >Next</A ></TD ></TR ><TR ><TD WIDTH="33%" ALIGN="left" VALIGN="top" >$B$O$8$a$K(B</TD ><TD WIDTH="34%" ALIGN="center" VALIGN="top" > </TD ><TD WIDTH="33%" ALIGN="right" VALIGN="top" >LegOS</TD ></TR ></TABLE ></DIV ></BODY ></HTML >