OnScreen Programming version 1.0 for Lego Mindstorms

Original Website: http://alumni.cse.ucsc.edu/~davevw/onscreen/

Once installing this system, the Lego Mindstorms RCX can be programmed on its
LCD screen via its View/Prgm buttons without use of a computer. This is
useful for more interactive prototyping, when the computer is busy with other
tasks, and similar situations when the program/download/test cycle takes too
long.

Version 1.0 contains only enough functionality to be useful. Gotos, Outputs,
and Delays are implemented with a maximum of 16 instructions. Later releases
should have more functionality.

Download the files, follow the instructions, and enjoy. 

-Dave VW 

Contents
Copyrights
Instructions
Files
Source
Buttons
Display
Program 1 -- backwards and forwards
Program 2 -- go in a circle
Program notes

Copyrights 
Copyright (c) 1999 by David R. Van Wagner ALL RIGHTS RESERVED

This program is freeware. You are licensed to use it in accordance with the
licenses of its dependent parts (see below) and/or MPL.

alumni.cse.ucsc.edu/~davevw/
davevw@alumni.cse.ucsc.edu

This program was developed using LegOS 0.1.6. See www.noga.de/legOS/

Copyright (c) 1998 by Markus L. Noga <noga@mauve.inrialpes.fr>
All Rights Reserved.
License to use, copy, modify and distribute this software in whole and in part
is granted to all private and educational users, provided that they retain
this copyright notice and offer the same licensing conditions for derived
works.
This software may or may not compile, execute or damage your software and/or
hardware. You received this software free of charge, so there are absolutely
no warranties.
Lego, Lego Mindstorms are trademarks of Lego Systems, Inc.
cygnus1.dll is distributed under GNU GPL. Please see www.cygwin.com
firmdl.c

/*
* Copyright (C) 1998, 1999, Kekoa Proudfoot. All Rights Reserved.
*
* License to copy, use, and modify this software is granted provided that
* this notice is retained in any copies of any part of this software.
*
* The author makes no guarantee that this software will compile or
* function correctly. Also, if you use this software, you do so at your
* own risk.
*
* Kekoa Proudfoot
* kekoa@graphics.stanford.edu
* 10/3/98
*/

Instructions
0. Install firmdl.exe, cygnus1.dll, and onscreen.srec into a directory
1. Plug in the Lego Mindstorms IR Tower to COM1
2. Erase firmware on RCX (ex. remove battery while on)
3. Point RCX towards IR Tower
4. Download RCX Onscreen Programming Firmware (counts to about 880)
firmdl.exe onscreen.srec
5. Press Run -- now running RCX w/ Onscreen Programming 

Later if you want to restore the Lego Mindstorms firmware, rerun the 
Lego Mindstorms Robotics Invention System and Configure, or
firmdl.exe "c:/Program Files/LEGO Mindstorms/Firm/Firm0309.lgo" 

Source
The source code is not quite ready for prime time, but here it is anyways.

Buttons
The buttons are now redefined

On-Off stops RCX Onscreen Programming. Due to a known defect, you must press
On-Off again to turn off, then again to turn back on before using RCX
Onscreen Programming again. Any customized programs are lost. Run starts and
stops your custom programs. View moves the cursor (unless a program is
running). Prgm changes the item under the cursor, or while running goes back
to onscreen programming. Note that the running program is not stopped. Modify
running programs at your own risk!

Display
The format of the display is 
SS.12 c A B C 
{ SS = step }
{ 12 = arg(s) }
{ c = command }
{ A = direction motor A }
{ B = direction motor B }
{ C = direction motor C } 

The cursor flashes as an underbar or selection.
The View button moves the cursor.
The Prgm button changes the selection under the cursor 

SS: Prgm advances to the next step
View advances to the command (c) 

c: Prgm changes the command (d=delay, o=output, G=goto)
View advances to the argument (2) 

2: Pgrm changes/increments the argument
View advances to the next argument (1)

1: Pgrm changes/increments the argument (+10 hex for delay & goto)
View returns to SS (delay & goto), or advances to A, B, or C 

A: Pgrm changes the direction of motor A
View returns to SS, or advances to B or C 

B: Pgrm changes the direction of motor B
View returns to SS, or advances to C 

C: Pgrm changes the direction of motor C
View returns to SS 

Program 1 -- backwards and forwards 
00.14 d		{ wait 2 sec. }
01. 8 o > > >	{ backwards all motors full power }
02.14 d		{ wait 2 sec. }
03. - o > > >	{ brake all motors }
04.14 d		{ wait 2 sec. }
05. 8 o < < <	{ forwards all motors full power }
06.14 d		{ wait 2 sec. }
07. - o > > >	{ brake all motors }
08.14 d		{ wait 2 sec. }
09.00 g		{ goto step 00 } 

Program 2 -- go in a circle 
00. 8 o < < <	{ forward all motors full power }
01.03 d		{ wait 0.3 sec }
02.A8 o >	{ reverse motor A }
03. - o   > >	{ brake motors B & C }
04.03 d		{ wait 0.3 sec }
05. 8 o > > >	{ reverse motors full power }
06.02 d		{ wait 0.2 sec }
07. - o > > >	{ brake all motors }
08.03 d		{ wait 0.3 sec }
09.00 g		{ goto step 00 }

Program notes
My "robot" is configured with three motors (all wheel drive). A is mounted
front left, B is mounted front right, and C drives an axle in the back. All
the wiring is reversed so forwards/backwards in the comments above are
reversed.