Download
lego mindstorms robotic invention system n.
Skip this Video
Loading SlideShow in 5 Seconds..
LEGO Mindstorms Robotic Invention System PowerPoint Presentation
Download Presentation
LEGO Mindstorms Robotic Invention System

LEGO Mindstorms Robotic Invention System

607 Vues Download Presentation
Télécharger la présentation

LEGO Mindstorms Robotic Invention System

- - - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

  1. LEGO Mindstorms Robotic Invention System Barb Ericson ericson@cc.gatech.edu Georgia Institute of Technology

  2. What is it? • A kit for creating and programming robots built with LEGOs

  3. What is in it? • 717 LEGO elements • One RCX programmable brick • 2 motors • 2 push sensors • 1 light sensor • Infrared transmitter for transferring the programs • A Constructopedia book with plans for 3 robots and many variations on them • CD with video on getting started and visual programming environment (RCX code) • 9 robots total

  4. What else do you need? • 6 AA batteries • Computer • Windows 98/Me/XP • Pentium II 233MHz • 32 MB RAM • 115 MB Disk Space • USB Port (for the infrared transmitter)

  5. What else might you want? • Plastic storage containers • For storing built robots • And for sorting parts better • Ultimate Accessory Kit - $50 • 45 LEGO pieces including • 1 remote control • 1 touch sensor • 1 rotation sensor • 1 lamp • 1 Constructopedia

  6. More Sensors • http://www.legoeducationstore.com/catalog.cfm?dest=itempg&itemid=920&secid=9&linkon=subsection&linkid=45 Light Angle (Rotation) Touch Temp Touch

  7. DCP Sensors • http://www.legoeducationstore.com/catalog.cfm?dest=itempg&itemid=922&secid=9&linkon=subsection&linkid=45

  8. What else might you want? • Vision Command - $100 • A video camera • 30 frames per second • 352 by 288 color • 145 LEGO elements • USB connection • Built-in microphone • Vision recognition software • Or get just the camera and USB cable for $39.00 at LEGO Education Store

  9. What does it cost? • About $200 • Buy at • Toys R Us • Shop.lego.com • Amazon.com • Wallmart.com • http://legomindstorms2.0.hobbytron.net/robotlegosub.html?source=1359 • Ebay.com

  10. What can you do with it? • Use it with RCX code or Robolab (visual programming) • To teach about commands, programs, iteration, conditionals, and variables • Without worrying about syntax • Use it with leJOS (Java) • To teach about commands, programs, iteration, conditionals, and variables • Arrays, strings, recursion, listeners, static • Using Java syntax

  11. Programming your Robot • Click the Program button in the main menu

  12. Pick the Robot • Pick the robot to program. If you are using your own design pick “Freestyle”.

  13. Create a Program using RCX code • Big Blocks are shown for a particular robot • Click and drag them to make a program • They will snap into place • You can save the program using the File menu • This will name your program

  14. Download your Program • Turn on the RCX (OnOff button) • Plug the IR Tower into your computer • Put the RCX near the IR Tower • Click the “Download” button • The default is to download to slot 5 • You can change this by clicking on “Settings” • When the download is finished the RCX will play a short tune • It displays dots during the download

  15. Running the Program • Two ways to run • Click the Run button on the RCX • Or click the Run button on the screen • Stopping the program • Click the Run button again on the RCX • Or click the Stop button on the screen

  16. Modify a Block • Click on the edit tab at the right edge of the block • You can change the duration of commands • Use the arrow key to use preset values • Or type a value in the textbox

  17. Robot Challenge • Make your robot go forward for 2 seconds • Make your robot turn right for 1.5 seconds • Make your robot go backwards for 3 seconds • Make your robot spin left for 1.5 seconds • Save your program using the File menu

  18. Getting More Information • Click on Help • Click on What’s this? • The cursor will show What’s this? with an arrow • Click on something you want more information about • Like a block • Or a menu item

  19. Robot Challenge • Use the help to find out the difference between turn left and spin left • Use the help to figure out what a Dance block will do • Use the edit tab to try out the Dance block • Make sure your robot is on and near the IR tower

  20. Using the Sensors • Click a Touch Sensor on the left and position it on the right • Pick the input port attached to your sensor • Click next • Pick when to respond • On press, release, or click (press and release) • Click next • Click “Try It” to try it or “Done”

  21. Handling a Sensor Event • Add command blocks after the if sensor event block • These actions will happen when that sensor event happens • Like when the touch sensor is pressed • Or when the light sensor’s value is > or < some amount

  22. Robot Challenge • Make your robot go forward for 10 seconds • If your robot’s touch sensor is pressed backup for 1 second and spin right • Set up items to block your robot and try it

  23. Adding Iteration • Use Repeat Blocks to add iteration (looping) • You can change the number of iterations • You can repeat a group of commands

  24. Conditionals • Add a test • Do one thing if the test is true • Like turn left • Do something else if the test is false • Like turn right

  25. Variables • You can create new variables • freq • And use them in other blocks • Add to them • Subtract from them • Multiply them • Divide them

  26. Create New Blocks • You can create new blocks using My Blocks • Name the block • Add other blocks to it • You can collapse the interior commands • Click on upper left square

  27. Small Blocks • Finer control of robot • Big Blocks are made up of small block commands • Click on the top left box to open a big block • And see the internal small blocks

  28. Where to get help? • http://mindstorms.lego.com\ • Main web site • Books – at LEGO Education Store • Building Robots with LEGO Mindstorms • Creative Projects with LEGO Mindstorms • LEGO Mindstorms: RIS 2 Projects

  29. Project Ideas • Anders Project ideas (scanner, fan) • http://www.norgesgade14.dk/legoSider/mindstorm_en.html • Andy’s Page (chess playing robot) • http://www.artilect.co.uk/lego/default.asp?page=Chess • Buick Music Study (Play MIDI or WAV files) • http://www.aga.it/%7Eguy/lego/bms.html • Joe’s Nagata’s Mindstorms Gallery (vehicles) • http://homepage3.nifty.com/mindstorms/ • http://members.at.infoseek.co.jp/Milano/studio1.html (movies) • Mario Ferrari’s Web Pages (piano player, skier, etc) • http://www.marioferrari.org/lego_mindstorm.html

  30. Using Java with LEGO Robots • Install leJOS (the Java Operating System) • Download from http://lejos.sourceforge.net/faq.html • Set the system variables • Plug in the IR Tower to the top USB port • Download the firmware using a command prompt • lejosfirmdl

  31. Setting System Variables • Create new System Variables • LEJOS_HOME variable to the directory where leJOS is installed • RCXTTY=USB • Add to the PATH variable • The Java SDK bin directory • ;%LEJOS_HOME%\bin • Add to the CLASSPATH variable • ;%LEJOS_HOME%/lib/classes.jar;%LEJOS_HOME%/lib/pcrcxcomm.jar

  32. Using leJOS • Import the classes in leJOS • import josx.platform.rcx.*; • Compile for Java 1.1 using • lejosjc.bat Class.java • Link together an executable • lejoslink.bat -o Class.bin Class • Download the executable to the RCX • lejosdl.bat Class.bin

  33. LCD Control

  34. Motor Class • 3 objects are available as public static (class) variables • Motor.A, Motor.B, and Motor.C • You make the motor go forward, backward, stop (brake), and float to a stop • When you start a motor forward it will keep going until you tell it to stop or float to a stop. • Use Thread.sleep(numMilliseconds) to control how long the motor is moving • Control how fast the motor moves with • setPower(num) with num from 0 to 7 (fastest)

  35. Motor Test • Make both A and C motors go forward at power 7 for 1 second • Stop for 1 second • Have both motors go forward at power 2 for 3 seconds • Float to a stop

  36. leJOS Resources • Download from • http://lejos.sourceforge.net/ • Tutorial at • http://lejos.sourceforge.net/tutorial/ • Discussion at • http://sourceforge.net/mailarchive/forum.php?forum_id=552 • Books • http://lejos.sourceforge.net/books.html

  37. FIRST LEGO League • Robotics competition for a team of kids (ages 9-14) • Up to 10 kids on a team • Register by Sept 30th • Work for 8 weeks on a challenge • New one each year • Compete at tournaments Nov – Dec • Georgia Tech hosted one Jan 15, 2005 • Cost (about $600 per team)