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RAM
The ATmega128 has 4K bytes of on chip Random Access Memory (RAM). This memory is used by the bootstrap loader and the RoboJDE virtual machine.
Another 128K bytes of external RAM on the IntelliBrain main board provides space for your Java application data and for temporarily loading your Java application while developing and testing. You can load a Java application of up to 30K bytes into RAM, but it will be lost when power is switched off or the batteries drain. Using RAM for program storage while developing your robot application reduces the wear on the flash memory and results in faster program downloading, but the RAM it occupies is not available for your application objects and stacks. Downloading your program to flash allows you to load larger applications and have the most memory available for its data and stacks.
When you have an application loaded in RAM, it will be the application that runs when you press the START button. If you want to run the application that is in flash memory when there is also an application stored in RAM, switch the IntelliBrain off then back on to erase the application in RAM. This will allow you to run the application stored in flash memory.
The virtual machine manages the allocation of memory as the program creates new objects. The virtual machine also recovers memory (garbage collects) when the program no-longer references an object. The virtual machine s garbage collector uses a reference counting garbage collector rather than a mark-and-sweep algorithm to provide predictable real-time performance.
CPU EEPROM
The ATmega128 includes 4K bytes of EEPROM memory with a life of at least 100,000 writes, according to ATmega128 specifications. The first 96 bytes of the EEPROM memory are reserved by IntelliBrain and RoboJDE and are not visible to the application. The remaining 4000 bytes are available to the application.
Direct Memory Access
Under most circumstances you should access features of the IntelliBrain controller via the Java API rather than attempting to access the microcontroller registers or memory directly. RoboJDE does provide direct memory access via methods in the com.ridgesoft.vm.VM class; however, direct use of these methods by end users is not recommended. Should you choose to use direct memory access methods, you must be careful to avoid interfering with RoboJDE.All RAM memory is managed by the virtual machine; therefore, it is not advisable to use the direct memory access methods to access RAM.
Main Board Power Connections
The IntelliBrain main board provides connectors for two DC power sources,allowing you to power the board using a battery (pack) or a regulated DC power supply. Using a DC power supply while developing and debugging your robot on the desktop will extend the life of your battery by disconnecting it when the power supply is attached.