Lego Mindstorm with Linux Mini-HOWTO

Luis Villa

<luge@users.sourceforge.net>

{_ - {|

              <hng@ps.ksky.ne.jp>
            

Revision History
Revision 1.1                 October 29th, 2000

Lego O[v Mindstorm  Robotics Invention System (RIS) ́AԂ
AԍIȒliœł郍{bgHwLbgłBAW\t
gEFA (Ƃł͂܂) MS Windows ̂̂łBł
߂Ă͂܂ - Mindstorm V[Y Linux g߂̕@
܂B Mini-HOWTO ́A@ɂĊȒPɏЉƂƂ
ɁAڂǂœł邩ɂĂ܂Ƃ߂̂łB



Table of Contents
1. ͂߂

    1.1. ӎ
    1.2. Ɛ
    1.3. Copyright

2. Mindstorm ̃A[LeN`

    2.1. {n[hEFA
    2.2. W RCX vO~O
    2.3. Linux c[KƂ
    2.4. Linux zXgpn[hEFA̕K{
    2.5. CyberMaster  Scout
    2.6. Mindstorm  Vision Command
    2.7. MS Windows CD ɂĂ̏dvȒ

3. LegOS

    3.1. z[y[W
    3.2. 
    3.3. 
    3.4. 
    3.5. vbgtH[
    3.6. Tv

4. Lego::RCX.pm

    4.1. z[y[W
    4.2. 
    4.3. 
    4.4. 
    4.5. vbgtH[
    4.6. Tv

5. Not Quite C (NQC)

    5.1. z[y[W
    5.2. 
    5.3. 
    5.4. 
    5.5. vbgtH[
    5.6. Tv

6. pbForth

    6.1. z[y[W
    6.2. 
    6.3. 
    6.4. 
    6.5. vbgtH[
    6.6. Tv

7. TinyVM  leJOS

    7.1. z[y[W
    7.2. 
    7.3. 
    7.4. 
    7.5. vbgtH[
    7.6. Tv

8. [g Java API

    8.1. z[y[W
    8.2. 
    8.3. 
    8.4. vbgtH[
    8.5. Tv

9. TCL RCX

    9.1. z[y[W
    9.2. 
    9.3. 
    9.4. 
    9.5. vbgtH[
    9.6. Tv

10. Pylnp

    10.1. z[y[W
    10.2. 
    10.3. 
    10.4. 
    10.5. vbgtH[
    10.6. Tv

11.  Linux c[

    11.1. LeoCAD
    11.2. POVRAY

12. ̏

    12.1. LUGNET
    12.2.  Mindstorm ̃TCg
    12.3. n[hEFÃTCg
    12.4. Historic Lego Bots and Construction Guide

13. {ɂ

1. ͂߂

 Lego  Mindstorm V[ỸLbgAɓ\Ă
傫 "Windows K{" ̃XebJ[ɂ肳ꂽƂĂA
߂邱Ƃ͂܂ - ܂]܂BGNU/Linux œ C, Perl,
Java, Forth ̌ꂻꂼ RCX vO\tgEFA݂
āAǂ\łB́̕ÂׂĂ悤Ƃ
̂ł͂܂BނA Linux ł̗lXȑIɂāA
eX̊TvƏ񌹂Ƃ񋟂悤Ƃ̂łBāA
́AЂƂ̏o_AȂ킿 Mindstorm V[ỸLbgwl
 Linux [UA Mindstorm Ă Linux ւ̈ڍsl
̂ Linux ł莝̍ȂŗVԂƂł邩
^ĂĺAɗ̂łB

̓_́AɒӂĂB́AMindstorms ̃ICR~je
B̓悭m悤w߂Ă͂܂AׂĂ𗝉Ă킯ł͂
̂ŁÃ̕Xgɂ͂ƔĂ鎖邩Ǝv܂B
Linux  Mindstorm 𓮂̕@䑶młA
luge@users.sourceforge.net <mailto:luge@users.sourceforge.net> ̒҂
Œm点ĂB̕@̕ɒǉāAMindstorms w
GNU/Linux Rs[^ŎgƍlĂ鑼̐lƂLł
悤ɂ܂B



1.1. ӎ

́AF̂߂ɃvOȀ̃̕o[WɃU
bƖڂʂĂꂽAvO̍҂ɊӂB

ɁA "Extreme Mindstorms" ꏏɏȂƗUĂꂽ Dave
Baum ɂӂ܂B̖{̎MɂāA͑̎Ԃ Mindstorm
ɊƂɂȂ܂Aɔ₵Ԃ́A@Ɍb܂
ΊƂ͂Ȃ̂łA HOWTO Ǝv̂
ԂꂽłBRCX  "power programming" ̒Tɋ
ȂA킽̖͂{E߂܂Bɂǂ{ (
O'Reilly {) ołĂ͂܂A̖{ (̖{Ɣׂ) ȂV
ɊÂĂāAɂdvȓ_ƂāALڂĂقƂ
ǂׂẴvOR[h (̒m) Linux œ삵܂B
̖{̐`̂͂܂Ƃł͕̂Ă܂A͂
̖{ƂĂւɂĂ̂ł :)  <http://www.amazon.com/exec/
obidos/ASIN/1893115844/tieguyorg> ŁA̖{wł܂B

܂ASteve Baker  Matthew Miller  Lugnet ̑̕Xɂ́A̕
̏o[W炽̖𗧂Ă܂Bނ̌
́ȂŜɓnȀꏊɂÁ̕ÂŁA
藧Ă܂ :)

ŌɁA̕ƒڂɊ֌W͂܂񂪁AȑO Duke University ɁA
݂ AT&T ɐЂu Michael LittmanAނ͂̉āAۂɎ LEGO ŗV
ł܂Bނɗ^Ăꂽ@āA Mindstorm ̃IC
R~jeBɔMʂA͖̎ł傤B



1.2. Ɛ

The LEGO Company (http://www.lego.com/) is very, very protective of
their trademarks. This document is not in any way authorized by or
associated with The LEGO Company, nor do I as the author claim to have
any relationship with The LEGO Company. To see more about their policy
on legal usage of their trademark, check out http://www.lego.com/info/
fair.asp <http://www.lego.com/info/fair.asp>, particularly the part
(about halfway down) titled "How LEGO(r) Enthusiasts May Refer to LEGO
Products on The Internet." I have attempted to abide by those
guidelines faithfully; like everything else in this document, though,
if you spot a violation of the guidelines, please let me know by
writing me. <mailto:luge@users.sourceforge.net>

    QlF

    LEGO  (http://www.lego.com/) ́AƂĂAƂĂϋɓIɎЂ̏W
    ی삵Ă܂B́̕AāALEGO Ђ̌F͊֘A
    ̂ł͂ȂAĂ܂A҂ƂāALEGO ЂɊ֌W邢Ȃ
    ̂ł܂BLEGO Ђ̏W̗p@̖@̃|V[
    ɂāAƒm肽ȂAhttp://www.lego.com/info/fair.asp 
    A (^̉̕ɂ) ^Cg "How LEGO(r) Enthusiasts May
    Refer to LEGO Products on The Internet" ̕mFĂB
    ̕SʂɂāA̎wjɐmɏ]łAwj
    Ɉᔽӏ΁A <mailto:luge@users.sourceforge.net> 
    ŁAm点ĂB



1.3. Copyright

This document is distributed under the LDP Copyright. You can find a
copy of it here. <http://www.linuxdoc.org/COPYRIGHT.html>

    QlF

    ́̕ALDP Copyright ̉ŁAzz܂B <http://
    www.linuxdoc.org/COPYRIGHT.html> ŎQƂł܂B



2. Mindstorm ̃A[LeN`

2.1. {n[hEFA

mȂ̂߂ɏ܂ALego  Mindstorm ̃LbǵA{bg
Hw̃LbgŁALego O[v 200 US hŔĂ܂BLb
g̒ǵALego ̂̃ubNƁCRCX Ƃ (CPU  LCD 
̃RlN^t傫ȃubN) ƁA̃[^ƁA(OEƂ
Mp) ZTƓ̃^b`ZTłB

RCX Lbǧ݂̃[X́Ao[W 1.5 ŁA2001 N̏tA RCX 2.0
ɒu\łB̂ƂA̕ "RCX" ƌ́A"RCX
1.x" Ӗ܂B1.0  1.5 ̈Ⴂ́AׂłA1.5  2.0 ւ̕
X͂Ȃ傫Ȃ̂ł - ȕύX͈̔͂́A܂A킩܂B

ƃn[hEFȀڍׂwтȂ (Ƃ͂A RCX ̃vO
̈ꂪӖĂ̂邽߂ɁAIɃfBXAZ
uĂl̕񍐂Ȃ̂ŁAǂނ̂CɂȂ邭炢ڂ
肷̂ł)A̏dvȃEFuTCg܂ - Russell Nelson's
Lego Mindstorms Internals <http://www.crynwr.com/lego-robotics/> 
Kekoa Proudfoot's RCX Internals <http://graphics.stanford.edu/~kekoa/
rcx/> KĂB



2.2. W RCX vO~O

Linux  Mindstorm 𓮍삳邽߂̂낢ȕ@𗝉邽߂̎
́A͂߂ɁAMindstorm Lbg MS Windows Őɓ삵Ă
̎dg𗝉邱ƂłBȒPɌƁALego 񋟂 MS
Windows ̃\tgEFAc[g΁ANł (邢͂ԂA12-14
˂炢̎q) 傤ǐϖ؂gݗĂ悤ȊoŁAOtBbN
삵 Mindstorm p̃vO쐬ł܂B̕@ŃvO
"gݗ" ƁÃ\tgEFÁAvO byte-code ɃR
pC܂BɁA byte-code ́A{bgɃ_E[hA
ĂŁARCX ̃t@[EFA byte-code Abyte-code ̖߂
Â}V𐧌䂵܂Bbyte-code ̍\͂ɉARCX t@[EF
ÁAOS Ɏ̋@\Ă܂ - n[hEFA̐AXbh
AāAɃ{bgƂ̒ʐMɎg IR |[g̐̋@\łBIR
|[g (SȃvOɔ䂵) ʂȃR}hÁA
ȃ[gR}ht\͂ÃR}hɊÂ
{bg𓮂܂B

W̃t@[EFÁA (RIS o[W 1.5 wƂĂ) o
[W 1.0 łB́AƂĂ[Ȑ܂ - Ƃ΁A
̕ϐ́ARAM ł͂ȂAWX^Ɋi[̂ŁA 32 ̕ϐ
Ă܂BAłȂ肩ƂłAt@[E
FÃo[W 2.0 (̃x[^o[W LEGO <http://
www.legomindstorms.com/sdk2/> ł܂B) ł́A̐
ȂɘaA1.x n[hEFAɑ΂鉺ʌ݊ۂ͂łB



2.3. Linux c[KƂ

Linux ł Mindstorms vÓAȌ͂ŏqׂ\tgEFÃZb
g̈ꕔꂼƎ̃\tgEFAɒu邩ŋ@\悤
ȂĂ܂BvÓAW Lego t@[EFAƎ OS
CNȃVXe⌾C^[v^ւƊSɒuĂ܂܂B
ȊÕvÓAW Lego byte-code Ɉv byte-code 𐶐
̂ŁA byte-code ΁Ả(C^[vg)
ɂ͕W̃t@[EFAg܂BŌɁA{bgŎۂɉ
s邽߂̂̂^邱ƂȂAzXg PC 烍{bg𐧌䂷邽
̃[gpR[h𐶐vO܂Bv
ȌꍇAW Lego t@[EFAg܂B



2.4. Linux zXgpn[hEFA̕K{

c[̑啔̓R}h`Ȃ̂ŁAn[hEFA̕K{͍ŒŁA
{Iɂǂ Linux VXeł삷͂łB

OāAVA|[g͂ǂĂKvł (ŐṼKV
[t[ȃ}Vɂ͖܂)BRCX Ƃ̒ʐḾA}ṼVA
|[gɂȂ IR tower oR܂B܂AVA|[g
}Vł̓A_v^𔃂Ȃ RCX g܂BɁAIRQ V
A|[gĂƓȂƂɂȂ邩܂B
AɁAf /dev/ttyS0 gĂꍇłBΏ͂R܂ -
́AQԖڂ̃VA|[g IR tower pɎgp܂BقƂǂ̏
Aœ삷͂łBŃ_ȂAf RCX ̓gp~
߂܂Bꂪ󂯓ȂȂAɁA ("extended dumb serial
driver options" ̉) "support for sharing serial interrupts" ̃J[
lRpCIvV𒲂ׁAIɂAăRpCĂ
B

Mac ͕WIȃVA|[gtĂȂ̂ŁALinuxPPC [U̓A_v
^肵Ac[g߂ɂ̕ύXȂ΂ȂȂ
܂BNQC ̍҂ Mac [Uł Dave Baum ́Â߂̕@
 <http://www.enteract.com/~dbaum/nqc/doc/faq.html#irmac>ŏĂ
܂B



2.5. CyberMaster  Scout

RIS ɉALego ͑ɂQ̃{bgHwVXe܂ - ([
bpœ\) CyberMaster  Scout łBcOȂA炪
̃c[Ɠ삷̂́A (Section 5 ŏqׂ NQC) ̂悤łB
傴ςȌ΁AScout ̍wlĂāA܂菬ɍ
ĂȂ΁Av؂ RCX wȂ - ǉŕȏ̉l
܂B



2.6. Mindstorm  Vision Command

Vision Command <http://mindstorms.lego.com/products/vision/index.asp>
kit ́AVǉꂽ Mindstorm V[ŸŁAUSB Jg
Ƃł܂BcOȂAUSB JT|[g ( USB
Quickcam T|[g) ́A܂ALinux ł͕sŁÂ߂̐i
Linux ł͂܂T|[g܂BnbNȂÃy[W
<http://hotswap.in.tum.de/~acher/quickcam/quickcam.html>Ă
Bɂ́A悭 Quickcam ̃hCo܂B



2.7. MS Windows CD ɂĂ̏dvȒ

L̂̃vO Lego t@[EFAgĂ̂
AMS Windows CD Kv܂BMS Windows u[gKv͂
܂ - Ԃr؂ꂳɂ݂܂ :) A(Ƃ킯 NQC 
RCX.pm sȂ) dr؂̎ɁAt@[EFA𓾂邽߂ CD 
}EgKv邩܂BȂׂ}EgȂȂA
CD ̃t@C firm0309.lgo TALinux p[eBV̈Sȏꏊ
ɃRs[ĂB



3. LegOS

3.1. z[y[W

http://legOS.sourceforge.net



3.2. 

Markus L. Noga



3.3. 

t@[EFA̒u



3.4. 

C, C++



3.5. vbgtH[

x86 GNU/Linux ŊJAPPC Linux ŃeXg܂BMS Windows
 Cygwin  DJGPP ɂڐAĂ܂BSolaris  Irix ւ̈ڐA͎
݂Ă܂Aꕔ̃c[Ă܂B



3.6. Tv

LegOS ́AvGeBuȃ}`^XN POSIX  RIS p OS łBv
ÓAW C  C++ ŏA(NXRpCƂč\zꂽ)
gcc p PC ŃRpCA RCX Ƀ_E[hAāA
s܂B{IɁAC  C++ ŁA LegOS łǂȂƂ (
 32k RAM ) Ƃł܂BʔƂɁArandom(), 
_G~[VAPOSIX Z}tHł̃XbhÃvO̊i[
\͂̋@\܂BLinux  MS Windows  PC Af[^̑
Ms@\܂B̗ (legOS ́AقƂǊmɁARCX ̑փ\
tgEFA̒ňԋ͂łB) ́A킸ȎԂŎɓ܂ - gcc 
głBlegOS ́AlX Linux ̑ւ̒Őݒ肪ԕGȃVXe
ŁAʂ̃c[̃_E[hKvłB



4. Lego::RCX.pm

4.1. z[y[W

http://members.home.com/quillan/lego/rcx.pm.html



4.2. 

John C. Quillan



4.3. 

[g䃉Cu



4.4. 

Perl



4.5. vbgtH[

GNU/Linux, MS Windows, Solaris



4.6. Tv

Lego::RCX.pm ́AȒPɌ΁AIR tower o RCX ̃[gp
perl CułBIR tower 󂯎AW̃t@[EFA߂
Aɏ]čs邱ƂłR}h𑗂܂Bł perl 
CXg[Ă (CXg[ĂȂ̂͒NH)A͔
ȒPɃ{bg𐧌䂷@łBCXg[͕Kv܂ - P
ɁAt@C𐳂CũfBNgɃRs[Aperl XNvg
̐擪 "use RCX.pm" ǉ܂B܂AgƂȂ̂ŁAM
܂񂪁ACGI XNvgŃ{bgƉb邽߂́AقǊ
Pȕ@ƂȂł傤B



5. Not Quite C (NQC)

5.1. z[y[W

http://www.enteract.com/~dbaum/nqc/index.html

mattdm.org ɂ NQC  Linux y[W - NQC RPM ̃zXg <http://
nqc.mattdm.org/>



5.2. 

Dave Baum



5.3. 

lCeBu byte-code RpC



5.4. 

C Ɏ () "{ C ł͂Ȃ" Ӗ Not Quite C
(NQC) ƌĂł܂BŒ̃R[fBǑo΁ANłAƂ
ȒPɊwׂ͂łB



5.5. vbgtH[

GNU/Linux, MS Windows, Macintosh



5.6. Tv

NQC  C Ɏ\ŏꂽvO𗝉 byte-code RpC
ŁAW Lego t@[EFAł byte-code ɃvO (PC
) RpC܂B̃Av[`́AƒZ܂ - Ⴆ
AW̃t@[EFA 32 ̕ϐȂ̂ŁANQC ͓lɐ
܂BA̐̒łǂ낭قǂ̂Ƃł
܂Bݒ́AƂĂȒPŁAvWFNĝׂẮAƂĂǂ
Ă܂B܂AԂԁAʓIȑփvO~OVXeȂ̂
A NQC gn߂ȂA̐lXŁA`ĂԂɂ
܂B

łɏqׂ悤ɁANQC ́ALinux  Cybermaster  Scout ̐iT
|[g (ł) B̑IłBɁÃx[^o[W
At@[EFÃo[W 2.0 œ삵AփvO~OVXe
ŁAVt@[EFA̒ǉꂽ@\T|[gŏ̂̂ł
B



6. pbForth

6.1. z[y[W

http://www.hempeldesigngroup.com/lego/pbFORTH/



6.2. 

Ralph Hempel



6.3. 

t@[EFA̒u



6.4. 

ForthAʓIȃXNvgɎŁAʁAgݍ݃VXepɎg
܂B



6.5. vbgtH[

GNU/Linux, MS Windows



6.6. Tv

pbForth ́AȒPɌ΁AS Forth C^[v^ŁÁAW
t@[EFAu܂B΁A{bg Forth XNv
g_E[hAɁAC^[v^̓XNvg߂A
s܂Bɂ́Aϐ̐̐͂ȂAb^fobOɎ@\
邢̃Cu܂B̊̓c[̃ZbgAbv
ւĖwǍōɊȒPȂ̂ŁAsׂƂ̓oCi_E[h
R[hă_E[h邾łB̑̃c[APCœ삷
RpCC^v^ȂǁA͈؂܂BƂ͌ĂAXN
vg_E[hA PC Ƃ̉bȒPɂNXvbgtH[
TCL GUI ͓ł܂B



7. TinyVM  leJOS

7.1. z[y[W

http://tinyvm.sourceforge.net

http://sourceforge.net/projects/leJOS/



7.2. 

Jose Solorzano



7.3. 

t@[EFA̒u



7.4. 

Java



7.5. vbgtH[

GNU/Linux, Win32



7.6. Tv

OӖ悤ɁATinyVM ͖{ɏ Java Virtual Machine ŁA
RCX Ƀ_E[hAW̃t@[EFAu܂BāA
Java vOAPC  byte RpCARCX Ƀ_E[h
܂BTinyVM vÓA̕WI Java Cug
łAMindstorm ̃ZTA[^Ȃǂ̐pCu񋟂
BTinyVM ́AłɁA@\Ă Java RpCKvłB

leJOS ͓҂ɂ鎗悤ȃvWFNgł (ۂɁAR[h̗p
ł)BȂ胁͑傫Ȃ܂ (TinyVM TCYŖ 5k ق)
A_ƕ萔̃T|[g܂ށA啝ȋ@\̒ǉĂ
܂B̏̌v́AK[x[WRNVƕvÕ[h
܂B



8. [g Java API

8.1. z[y[W

RCX Java API <http://www.escape.com/~dario/java/rcx/>

RCXPort Java Interface <http://www.slewis.com/rcxport/>



8.2. 

[g䃉Cu



8.3. 

Java



8.4. vbgtH[

GNU/Linux(?)



8.5. Tv

̗̃CúA(_) NXvbgtH[ Java Cu
ŁA{̃t@[EFAp RCX [gŐ䂷邽߂Ɏg
ƂłM𑗂܂BLinux ŃeXgꂽƂȂAɁALinux
ł̊JsĂ܂񂪁A\[X͒N̂߂ɖ𗧂Ȃ
ŁA̕Ɋ܂߂܂B



9. TCL RCX

9.1. z[y[W

http://www.autobahn.org/~peterp/rcx/

http://www.demailly.com/tcl/rcx/



9.2. 

Laurent Demailly  Peter Pletcher



9.3. 

lCeBu byte-code RpCƃ[g䃉Cu



9.4. 

TCL



9.5. vbgtH[

GNU/Linux, Win32



9.6. Tv

TCL RCX RpCɂ́AQ̎vȋ@\܂ - TCL XNvg
RCX byte-code ɃRpC邱ƂAXNvgƉb^ TCL VF̂
炩烍{bg[g䂷邱Ƃł܂B TCL I
A͍ŗǂ̃\[VłB\ȃo[W͂Q܂
- (demailly.com ) Laurent ̂́AQ̃IWi悤łB
A1998 NXVĂȂ悤łB



10. Pylnp

10.1. z[y[W

http://www.hare.demon.co.uk/lego/pylnp.html



10.2. 

Les Smithson



10.3. 

[g䃉Cu



10.4. 

Python



10.5. vbgtH[

GNU/Linux



10.6. Tv

Pylnp ́AƓȍ̃[g䃉CuŁA̗R Python g
łȂAW̃t@[EFAƘbƂ̑ legOS Ƙb܂
B̗ŔÃ[g䃉Cuł͂łȂAɑ̃JX
^}CY񋟂邽߂ŁA{bg legOS ̃JX^@\̌Ăяo
gpĂ܂B̗͂̕sȖʂ́AA̗Dꂽ@\ɃA
NZX邽߂ɁA legOS wсAC ̃vOȂ΂ȂȂ
ƂłB



11.  Linux c[

̏͂̃vÓAɌ΁AMindstorm Ɋ֘AĂ܂񂪁A
Linux/Lego t@͋ł傤B



11.1. LeoCAD

LeoCAD ́A(OӖ悤) Lego f̑gݗĂƊ\z}̂
߂ CAD vOłBgp\ GTK ̈ڐAA http://
leocad.gerf.org/linux.htm Ō܂BSȋ@\ĂȂ
ƁA҂͂ق̂߂Ă܂̂ŁA͒NɂƂĊyvWFNg
ƂȂ邩܂B



11.2. POVRAY

Lego s[X̃ZbǵAʓI POVRAY 3-D _OvOg
A쐬Ă܂Bhttp://www.kawo1.rwth-aachen.de/~witte/projekte/
lego/lego.html <http://www.kawo1.rwth-aachen.de/~witte/projekte/lego/
lego.html> ł̃s[XAhttp://www.povray.org <http://www.povray.org
/>  POVRAY T܂B



12. ̏

Ȃ́AA̕ǂݏI܂AMindstorm ɒT邽
߂̃EFȕꏊɂ܂B̑啔 Linux L
͂܂񂪁ÂقƂǂɂ̓fBXJbVtH[̂ŁA
ԂAȂƂl Linux [U܂BȂƒT
邽߂ɁA͏\Ɏh^ƁA҂Ă܂By݂܂傤I



12.1. LUGNET

LEGO User Group NETwork ̃TCg http://www.lugnet.com/ ́AԁAI
C Lego ɊւZ^[łB̎Q҂Ƒf炵j
[XO[v܂BɁA{bgHwtH[ <http://
news.lugnet.com/robotics/>́Aւm̖Lxȓǎ҂Ɠe҂̂M
SȃO[vłBɁAOq̕@́ÅKw̒
robotics/rcx/ <http://news.lugnet.com/robotics/rcx/> j[XO[v
ʂłB



12.2.  Mindstorm ̃TCg

 Mindstorm ̃TCg http://www.legomindstorms.com/ ŁA
f炵ACfAAɁANQC \[XJzzĂ܂B
A Linux ̏\ȏ͊҂ȂłB



12.3. n[hEFÃTCg

łɏqׂ܂A܂CɂȂłB́A Lego
Zp҂ł͂ȂlɁARCX n[hEFAƂIɁAڍׂ
nčl@Ă܂BIWiTCg http://www.crynwr.com/
lego-robotics/ ŁAZJhTCg http://graphics.stanford.edu/~kekoa
/rcx łB



12.4. Historic Lego Bots and Construction Guide

m܂񂪁ARIS ͕IɁAMIT ̌ȐʂłB MIT ̗L
ȑn "Lego class" ́Az[y[W <http://
fredm.www.media.mit.edu/people/fredm/projects/6270/>J݂Ă܂B
ɂ́ANX (^ɑf炵܂I) A{bg\zK
Ch (Robot Builder's Guide) ւ̃N܂B{bg\zKCh
́AS҂vO𓮍삳AۂɃ{bg\z邱Ƃɂ
́Af炵Ă񂠂܂B



13. {ɂ

{ Linux Japanese FAQ Project s܂B|Ɋւ邲ӌ
 JF vWFNg <JF@linux.or.jp> ɘAĂB

{ŏЉĂ郊ŃA{TCgł͂܂B҂͍ŋ
Lego n߂΂Ȃ̂ŁA{ɂ Lego ICR~jeB̏
m܂BeNɂāA{ł͂ƂTCg
A <hng@ps.ksky.ne.jp> ɂAB{ɒǉ
ƎvĂ܂B

1.1j

|:

    {_ <hng at ps.ksky.ne.jp>

Z:

      V{S <gm at debian.or.jp>

      L <takei at webmasters.gr.jp>

      a]q <mizoe at yk.rim.or.jp>

      앐r <kgh12351 at nifty.ne.jp>

      Seiji Kaneko <skaneko at a2.mbn.or.jp>

      _Y <ataca at fsinet.or.jp>

      JG <jeanne at mbox.kyoto-inet.or.jp>

      UTi <ysenda at pop01.odn.ne.jp>

      Satoshi I.Nozawa <snozawa at env.sci.ibaraki.ac.jp>

      Èꐽ <takatsu-k at mb.meidensha.co.jp>

