Building Robots With Lego Mindstorms Nxt

by Ferrari; Ferrari; Astolfo

• ISBN13: 9781597491525
• ISBN10: 1597491527
• Format: Paperback
• Copyright: 2007-06-07
• Publisher: Elsevier Science

Summary

The Ultimate Tool for MINDSTORMSreg; Maniacs The new MINDSTORMS kit has been updated to include a programming brick, USB cable, RJ11-like cables, motors, and sensors. This book updates the robotics information to be compatible with the new set and to show how sound, sight, touch, and distance issues are now dealt with. The LEGO MINDSTORMS NXT and its predecessor, the LEGO MINDSTORMS Robotics Invention System (RIS), have been called "the most creative play system ever developed." This book unleashes the full power and potential of the tools, sensors, and components that make up LEGO MINDSTORMS NXT. It also provides a unique insight on newer studless building techniques as well as interfacing with the traditional studded beams. Some of the world's leading LEGO MINDSTORMS inventors share their knowledge and development secrets. You will discover an incredible range of ideas to inspire your next invention. This is the ultimate insider's look at LEGO MINDSTORMS NXT system and is the perfect book whether you build world-class competitive robots or just like to mess around for the fun of it. Featuring an introduction by astronaut Dan Barry and written by Dave Astolfo, Invited Member of the MINDSTORMS Developer Program and MINDSTORMS Community Partners (MCP) groups, and Mario and Guilio Ferrari, authors of the bestselling Building Robots with LEGO Mindstorms, this book covers: Understanding LEGO Geometry Playing with Gears Controlling Motors Reading Sensors What's New with the NXT? Building Strategies Programming the NXT Playing Sounds and Music Becoming Mobile Getting Pumped: Pneumatics Finding and Grabbing Objects Doing the Math Knowing Where You Are Classic Projects Building Robots That Walk Robotic Animals Solving a Maze Drawing and Writing Racing Against Time Hand-to-Hand Combat Searching for Precision *Complete coverage of the new Mindstorms NXT kit *Brought to you by the DaVinci's of LEGO *Updated edition of a bestseller

Table of Contents

Foreword	p. xxiii
Preface	p. xxv
Understanding LEGO[Registered] Geometry	p. 1
Introduction	p. 2
Expressing Sizes and Units	p. 2
Squaring the LEGO World: Vertical Bracing	p. 4
Tilting the LEGO World: Diagonal Bracing	p. 6
TECHNIC Liftarms: Angles Built In	p. 9
Summary	p. 11
Playing with Gears	p. 13
Introduction	p. 14
Counting Teeth	p. 14
Gearing Up and Down	p. 15
Riding That Train: The Geartrain	p. 17
Worming Your Way: The Worm Gear	p. 19
Limiting Strength with the Clutch Gear	p. 20
Placing and Fitting Gears	p. 23
Using Pulleys, Belts, and Chains	p. 30
Pulleys and Belts	p. 31
Chains	p. 33
Making a Difference: The Differential	p. 35
Summary	p. 38
Controlling Motors	p. 41
Introduction	p. 42
Pacing, Trotting, and Galloping	p. 43
Internals of NXT Servo Motor	p. 47
Mounting Motors	p. 48
Wiring Motors	p. 51
Using Power Function Motors with the NXT	p. 52
Controlling Power	p. 54
Detecting Motor Overload	p. 55
Braking the Motor	p. 56
Coupling Motors	p. 57
Summary	p. 59
Reading Sensors	p. 61
Introduction	p. 62
Digital Sensor Ports with the I[superscript 2]C (Inter-Integrated Circuit) Interface	p. 62
The Touch Sensor	p. 65
The Light Sensor	p. 71
Measuring Reflected Light	p. 73
Line Following	p. 74
The Ultrasonic Sensor	p. 77
Proximity Detection	p. 79
The Servo Motor Encoder (Rotation Sensor)	p. 79
Sensor Tips and Tricks	p. 83
Emulating a Rotation Sensor	p. 84
Connecting Multiple Sensors to the Same Port-Multiplexing	p. 86
Other Sensors	p. 88
The Passive Infrared Sensor	p. 89
The Pressure Sensor	p. 90
The Acceleration Sensor	p. 92
The Compass Sensor	p. 94
The NXT-to-RCX Communication Bridge	p. 95
The Color Sensor	p. 96
Summary	p. 98
What's New with the NXT?	p. 99
Introduction	p. 100
Notable Enhancements	p. 100
Studless Construction	p. 100
Electrical Connectors	p. 100
Rechargeable Battery Pack	p. 100
Flash Memory	p. 101
Multiple Types of Sensors	p. 101
The NXT File System	p. 101
File-Handling Functions	p. 102
Using File Space Efficiently	p. 103
The LCD Screen	p. 103
Games	p. 104
Digital Interfaces and Bluetooth	p. 105
Bluetooth Communication	p. 106
A Surveillance Robot Using NXT and Bluetooth	p. 106
A Bluetooth-Based Remote Controller	p. 107
Spatial Motion Controllers	p. 108
I[superscript 2]C for Spatial Motion Controllers	p. 109
Future Possibilities	p. 109
An NXT Robot Controlled from a Web Server	p. 109
NXT Puppet Show	p. 110
GPS and the NXT	p. 110
Summary	p. 111
Building Strategies	p. 113
Introduction	p. 114
Studless Building Techniques	p. 114
Maximizing Modularity	p. 118
Loading the Structure	p. 121
Putting It All Together: Chassis, Modularity, and Load	p. 124
Hybrid Robots: Using Studless and Studded LEGO Pieces	p. 129
Summary	p. 131
Programming the NXT	p. 133
Introduction	p. 134
What Is the NXT Programmable Brick?	p. 134
MINDSTORMS: A Family of Programmable Bricks	p. 136
Introduction to Programming the NXT Brick	p. 137
How Does a Program Run?	p. 138
Using NXT-G	p. 139
Using RobotC	p. 141
Using Other Programming Languages	p. 142
Using NBC/NXC	p. 143
Using pbLUA	p. 144
Using LeJOS NXJ	p. 144
Using Other Programming Tools and Environments	p. 144
Code Samples	p. 145
Code Sample: A Simple Clock	p. 145
Code Sample: Following a Line	p. 151
Running Independent Tasks	p. 157
Summary	p. 158
Playing Sounds and Music	p. 159
Introduction	p. 160
Communicating through Tones	p. 160
Playing Music	p. 161
Converting Sound and Music Files	p. 163
MIDI and MIDIBatch	p. 163
WAV2RSO	p. 165
The Sound Sensor	p. 166
Summary	p. 167
Becoming Mobile	p. 169
Introduction	p. 170
Building the Simple Differential Drive	p. 170
Keeping a Straight Path	p. 172
Using Servo Motor Encoders to Go Straight	p. 172
Using Gears to Go Straight	p. 173
Using Casters to Go Straight	p. 177
Building a Skid-Steer Drive	p. 180
Building a Steering Drive	p. 183
Building a Synchro Drive	p. 187
Other Configurations	p. 191
Summary	p. 192
Getting Pumped: Pneumatics	p. 193
Introduction	p. 194
Recalling Some Basic Science	p. 194
Pumps and Cylinders	p. 195
Controlling the Airflow	p. 200
Building Air Compressors	p. 202
Building a Pneumatic Engine	p. 206
Summary	p. 210
Finding and Grabbing Objects	p. 211
Introduction	p. 212
Operating Hands and Grabbers	p. 212
Using Pneumatics to Drive Your Grabber	p. 218
Finding Objects	p. 222
Positioning the Grabber	p. 225
Distinguishing Objects and Obstacles	p. 225
Summary	p. 228
Doing the Math	p. 229
Introduction	p. 230
Multiplying and Dividing	p. 231
Averaging Data	p. 233
Simple Averages	p. 233
Weighted Averages	p. 237
Using Interpolation	p. 240
Understanding Hysteresis	p. 243
Higher Math	p. 245
Summary	p. 248
Knowing Where You Are	p. 249
Introduction	p. 250
Choosing Internal or External Guidance	p. 250
Looking for Landmarks: Absolute Positioning	p. 251
Following the Beam	p. 255
Map Matching Using Ultrasonic Sensor	p. 259
Combining Compass Sensor to Increase Precision	p. 260
Measuring Movement: Relative Positioning	p. 260
Measuring Movement: Acceleration Sensor	p. 262
Summary	p. 263
Classic Projects	p. 265
Introduction	p. 266
Exploring Your Room	p. 266
Detecting Edges	p. 269
Variations on Obstacle Detection	p. 270
Following a Line	p. 271
Further Optimization of Line Following	p. 277
Summary	p. 278
Building Robots That Walk	p. 279
Introduction	p. 280
The Theory behind Walking	p. 280
Building Legs	p. 286
Building a Four-Legged Robot	p. 288
Building a Six-Legged Steering Robot	p. 291
Designing Bipeds	p. 296
Interlacing Legs	p. 297
COG Shifting	p. 300
Making Bipeds Turn	p. 302
Summary	p. 303
Robotic Animals	p. 305
Introduction	p. 306
Creating a Monkey	p. 306
Center Motor Assembly	p. 307
Shoulder Assembly	p. 308
Shoulder/NXT Brick Bracing	p. 309
Shoulder-to-Arms Support	p. 310
Arm Motors	p. 311
Monkey Fingers	p. 312
NXT Brick Backbracing and Ultrasonic Sensor	p. 313
The Final Step: Wiring Your Monkey	p. 314
Programming Your Monkey	p. 314
Creating a Mouse	p. 316
Mouse Frame and Motor Assembly	p. 316
Castor Bottom	p. 318
Tail Assembly	p. 318
The Mouse Head Frame	p. 319
Motorized Mouse Head Assembly	p. 320
Mounting the Mouse Head to the Body	p. 321
A Programming Example	p. 322
Creating Other Animals	p. 324
Summary	p. 325
Solving a Maze	p. 327
Introduction	p. 328
Finding the Way Out	p. 328
Using the Left Side-Right Side Strategy	p. 330
Applying Other Strategies	p. 332
Building a Maze Runner	p. 333
Constructing the Maze Runner	p. 333
Programming the Runner	p. 336
Creating the Maze	p. 339
Building a Maze Solver	p. 339
Constructing the Maze Solver	p. 339
Programming the Solver	p. 341
Improving the Program	p. 347
Summary	p. 348
Drawing and Writing	p. 349
Introduction	p. 350
Creating a Logo Turtle	p. 350
Building the Turtle	p. 350
Programming the Turtle	p. 355
Tape Writer	p. 361
Building the Writer	p. 361
Programming the Writer	p. 366
What to Write	p. 369
Further Suggestions	p. 369
Copying	p. 369
Emulating Handwriting	p. 370
Learning by Example	p. 370
Summary	p. 371
Racing Against Time	p. 373
Introduction	p. 374
Hosting and Participating in Contests	p. 374
Optimizing Speed	p. 376
Drag Racing	p. 376
Combining Speed with Precision	p. 377
Line Following	p. 378
Wall Following	p. 379
Other Races	p. 380
Summary	p. 381
Hand-to-Hand Combat	p. 383
Introduction	p. 384
Building a Robotic Sumo	p. 384
Setting the Rules	p. 385
Maximizing Strength and Traction	p. 386
Attack Strategies	p. 388
Finding the Enemy	p. 388
Using Speed	p. 389
Using a Transmission	p. 390
Other Sumo Tricks	p. 391
Getting Defensive	p. 391
Testing Your Sumo	p. 392
Summary	p. 393
Searching for Precision	p. 395
Introduction	p. 396
Precise Positioning	p. 396
Shooting with Precision	p. 397
Fine Motor Skills of Your Robot	p. 398
Removing the Bricks	p. 398
Freeing the Magnets	p. 399
Fire Fighting in a Maze	p. 401
Playing Soccer	p. 402
Summary	p. 403
Resources	p. 405
Introduction	p. 406
Bibliography	p. 406
General Interest Sites	p. 407
Understanding LEGO Geometry	p. 408
Playing with Gears	p. 408
Controlling Motors	p. 409
Reading Sensors	p. 409
What's New with the NXT	p. 411
Building Strategies	p. 412
Programming the NXT	p. 412
Playing Sounds and Music	p. 413
Becoming Mobile	p. 413
Getting Pumped: Pneumatics	p. 414
Finding and Grabbing Objects	p. 415
Doing the Math	p. 415
Knowing Where You Are	p. 416
Classic Projects	p. 417
Building Robots that Walk	p. 417
Robotic Animals	p. 417
Solving a Maze	p. 418
Drawing and Writing	p. 418
Racing Against Time	p. 419
Hand-to-Hand Combat	p. 419
Searching for Precision	p. 420
Matching Distances	p. 421
Note Frequencies	p. 427
Math Cheat Sheet	p. 429
Sensors	p. 430
Averages	p. 430
Interpolation	p. 430
Gears, Wheels, and Navigation	p. 431
Index	p. 433
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