XS: Lisp on Lego MindStorms by Taiichi Yuasa Japanese XS is a Lisp system which is designed to control RCX blocks of the Lego MindStorms Robotics Invention System (RIS). XS Lisp provides one of the most complete and powerful systems currently available for Lego MindStorms programming. Autonomous XS evaluator runs on the RCX and includes its own runtime stacks and garbage-collected heap. Communicat
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