1. LEGO Mindstorms - Through The Classroom Door · Play the Curved Move tutorial within LEGO...

1. LEGO Mindstorms

=> Instructions within LEGO Mindstorms software

2. Riley Rover

https://www.damienkee.com/rileyrover-ev3-classroom-robot-design/

3. Robocoaster

Build OptionsTuesday, 18 June 2019 11:47 AM

Robotics Challenge

https://www.damienkee.com/rileyrover-ev3-classroom-robot-design/

https://docs.wixstatic.com/ugd/ecb80d_778397542a974d57b2fe94cc3ebdad9d.pdf

ecb80d_778397542a...

4. QUICK BUILD

http://www.damienkee.com/workshop-ev3-quick-build/

DamienKee_Quickbuild

Robotics Challenge


http://www.damienkee.com/workshop-ev3-quick-build/

DamienKee_Quickbuild

5. Tommabot

https://robocupjunior.org.au/sites/default/files/Soccer/Tommabot%20Instructions.pdf

TommabotInstructions

6. YayaBot

From <http://www.drgraeme.org/Dr/EV3G10.html>

Robotics Challenge

https://robocupjunior.org.au/sites/default/files/Soccer/Tommabot%20Instructions.pdf

http://www.drgraeme.org/Dr/EV3G10.html

Robotics Challenge

BasicsTuesday, 18 June 2019 12:03 PM

Robotics Challenge

Robotics Challenge

- Investigate different ways of controlling a Driving Base, moving in a straight line

- Explain what each block does and how it works- Drive forward

Move Steering BlockThe Move Steering block can make your robot drive forward, backward, turn, or stop. You can adjust the steering to make your robot go straight, drive in arcs, or make tight turns.

Use the Move Steering block for robot vehicles that have two Large Motors, with one motor driving the left side of the vehicle and the other the right side. The Move Steering block will control both motors at the same time, to drive your vehicle in the direction that you choose.

InstructionsPlay the Straight Move tutorial within LEGO Mindstorms

3/5 Interactive Animation:

Predict and explain what these blocks do and how it works

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FMove.html

Straight MoveTuesday, 18 June 2019 12:03 PM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FMove.html

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FMove.html

Test your code. If it doesn’t work as expected, alter the parameters and try again until it does.

Move Tank Block

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FMoveTank.html

The Move Tank block can make a robot drive forward, backward, turn, or stop. Use the Move Tank block for robot vehicles that have two Large Motors, with one motor driving the left side of the vehicle and the other the right side. You can make the two motors go at different speeds or in different directions to make your robot turn.

Instructions

=> Develop your algorithm for the challenge below, using the tank move block


Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FMoveTank.html

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FMoveTank.html

- Use the Move Steering block to steer the Driving Base.- Explain how to steer a curve

- Steer a curve

InstructionsPlay the Curved Move tutorial within LEGO Mindstorms



4/5 Recreate the program shown, then download and run to test.

Challenge 1

Add three more Move Steering blocks to your program so that it makes the Driving Base return to its starting position.


Now with the Tank Move Block

InstructionsPlay the Tank Move tutorial within LEGO Mindstorms



Curved MoveTuesday, 18 June 2019 12:40 PM

Robotics Challenge

4/5 Recreate the program shown, then download and run to test.

Challenge 2

Add three more Tank Move blocks to your algorithm so that it makes the Driving Base return to its starting position.


Extension Challenge

=> Develop your algorithm for the challenge below


Robotics Challenge

Move Steering InputsTuesday, 18 June 2019 1:18 PM

Robotics Challenge

Robotics Challenge

- Use the Colour Sensor to stop the Driving Base when a line is detected.

- Explain how to use the colour sensor- Stop when a line is detected

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fUsingSensors_Color.html

https://www.youtube.com/watch?v=aJToMY-3Mq4

Calibrate the Colour Sensor

InstructionsPlay the Stop at Line tutorial within LEGO Mindstorms



Colour Sensor: Stop at LineTuesday, 18 June 2019 1:07 PM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fUsingSensors_Color.html

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fUsingSensors_Color.html

https://www.youtube.com/watch?v=aJToMY-3Mq4

ExplanationThe colour sensor compare block is just a modified wait block. Instead of a Time Indicator, we change it to a Colour Sensor that compares either the reflected light or the ambient light.

In the tutorial example, we are comparing the Reflected light. When the Colour Sensor is in Reflected Light Intensity mode, a red LED light on the front of the sensor will turn on. If the sensor is close to an object or surface, this red light will reflect off of the object and then enter the sensor to be detected. You can use this to measure shades of colour on a surface or object, because darker shades of colour will reflect less of the red light back to the sensor.

You can use this mode to, for example, make your robot follow a black line on a white surface. As the sensor passes over the black line, the light measurement will gradually decrease as the sensor gets closer to the black line. This can be used to tell how close the robot is to the line.

In Reflected Light Intensity mode, the Colour Sensor detects the intensity of light that enters the sensor. The intensity of the light is measured as a percentage from 0 to 100, with 0 being very dark, and 100 being very bright.

We then compare using standard mathematical operators:

4/5 Recreate the program shown, then download and run to test. Set the sensor threshold for best results.

Need help?

Robotics Challenge

Challenge 1

See if you can make the Colour Sensor detect a lighter-coloured line.


Robotics Challenge

Robotics Challenge

- Use the Ultrasonic Sensor’s Wait for Change mode to detect proximity to an object

- Explain how to use the ultrasonic sensor- Stop when an object is detected

Reference:http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fUsingSensors_Ultrasonic.html

https://www.youtube.com/watch?v=B49J93rSsTg

InstructionsPlay the Stop at Object tutorial within LEGO Mindstorms



Explanation

The Ultrasonic Sensor can measure the distance to an object in front of it. It does this by sending out sound waves and measu ring how long it takes the sound to reflect back to the sensor. The sound frequency is too high for you to hear (“ultrasonic”).

You can measure the distance to an object in either inches or centimetres. You could use this, for example, to make your robo t stop a certain distance from a wall.

The ultrasonic sensor compare block is just a modified wait block. Instead of a Time Indicator, we change it to an Ultrasonic Sensor that compares the distance in cm.

Ultrasonic Sensor: Stop at ObjectTuesday, 18 June 2019 1:48 PM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fUsingSensors_Ultrasonic.html

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fUsingSensors_Ultrasonic.html

https://www.youtube.com/watch?v=B49J93rSsTg

We then compare using standard mathematical operators:

The Ultrasonic Sensor can give the following data:

Data Type Range Notes

Distance in Centimetres Numeric 0 to 255 Distance to object in centimetres.

Distance in Inches Numeric 0 to 100 Distance to object in inches.

Ultrasound Detected Logic True/False True if another ultrasonic sensor is detected.

Robotics Challenge

Ultrasound Detected Logic True/False True if another ultrasonic sensor is detected.

Start the program1.

Turn both motors on at speed 50.2.

Wait for the Ultrasonic sensor the detect and obstacle at a distance of less than 10 cm.3.

Turn both motors off.4.


Challenge 1

Move the Cuboid farther away before running the program again. What happens?


Robotics Challenge

- Use the Gyro Sensor to navigate the Driving Base through a 45-degree turn.

- Explain how to use the Gyro sensor- Make a 45-degree turn.

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2FUsingSensors_Gyro.html

https://www.youtube.com/watch?v=mky8sVmpKzg

InstructionsPlay the Stop at Angle tutorial within LEGO Mindstorms



ExplanationThe first block is the Tank Move block and this will make one wheel rotate at 40 power; and the robot will start to spin in one direction.

The second block is a modified wait block that is set to sense a change in angle.

The Gyro Sensor detects rotational motion. If you rotate the Gyro Sensor in the direction of the arrows on the case of the sensor, the sensor can detect the rate of rotation in degrees per second. You can use the rotation rate to detect, for example, when a part of your robot is turning, or when your robot is falling over.

In addition, the Gyro Sensor keeps track of the total rotation angle in degrees. You can use this rotation angle to detect, for example, how far your robot has turned.

The Gyro Sensor can give the following data:

Data Type Notes

Angle Numeric Rotation angle in degrees.Measured from the last reset. Reset with the Reset mode of the Gyro

Gyro Sensor: Stop at AngleTuesday, 18 June 2019 1:48 PM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2FUsingSensors_Gyro.html

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2FUsingSensors_Gyro.html

https://www.youtube.com/watch?v=mky8sVmpKzg

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FGyro.html

Measured from the last reset. Reset with the Reset mode of the Gyro Sensor block.Rate Numeric Rotation rate in degrees per second.

So, the wait block says, wait or keep the move block spinning until the robot has spun 45 degrees.


Challenge 1

Make the Driving Base turn 90 degrees.

Tips:

Program Accurate 90 Degree Turns with the EV3 Gyro Sensor

From <https://www.youtube.com/watch?v=8B1LwzkLKXs>


Extension Challenge

Robotics Challenge



https://www.youtube.com/watch?v=8B1LwzkLKXs

Extension Challenge


Robotics Challenge

Beyond the BasicsWednesday, 19 June 2019 9:02 AM

Robotics Challenge

- Use multitasking to move the Driving Base and play a sound at the same time.

- Explain how the multitasking block works- Perform a series of actions at the same time

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fCreatingPrograms.html

InstructionsPlay the multitasking tutorial within LEGO Mindstorms



Explanation

You can run more than one set of tasks simultaneously. For example, you might have one sequence of Programming Blocks controlling the robot’s forward motion, and a second sequence of Programming Blocks controlling the robotic arm on top of the robot.

You can create a parallel sequence by dragging a new Sequence Wire from the Sequence Plug Exit of the Programming Block before the parallel sequence

Recreate the program shown below, then download and run to test. Set the sensor threshold for best results.

MultitaskingWednesday, 19 June 2019 9:36 AM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fCreatingPrograms.html

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2fCreatingPrograms.html

Challenge 1

Add blocks to the program that will make the Driving Base move backwards while playing the [Backing alert] sound.


Challenge 2

Make your robot dance to music


Robotics Challenge

Robotics Challenge

- Use the Loop block to repeat a series of actions.

- Explain how the loop block works- Repeat a series of actions.

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FLoopCondition.html

InstructionsPlay the Loop tutorial within LEGO Mindstorms



Explanation

The Brick Status Light block turn the light on the top of the brick off or on with a choice of three colours

Status light is red

We then want the light to stay on for 2 seconds, so we can use a loop that will repeat for 2 seconds.

LoopsWednesday, 19 June 2019 9:02 AM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FLoopCondition.html


Challenge 1

Flash all three colours of the status light, twice


Hint

Challenge 2

Robotics Challenge

Play a sound for 3 seconds, using a loop


Extension Challenge


Hints

1. Using Move Steering

2. Use the Gyro sensor to turn 90 degrees

Robotics Challenge

- Use the Switch block to make dynamic sensor-based decisions.

- Explain how the switch block works- Act on sensor-based decisions

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FCaseSelector.html




Explanation

The Switch block is a container that can contain two or more sequences of programming blocks. Each sequence is called a Case. A test at the beginning of the Switch determines which Case will run. Only one Case will run each time the Switch is executed.

The Switch test shown here can decide which Case to run based on a sensor data value or a value from a Data Wire. After one Case is selected and run, the program continues with any blocks after the Switch.

SwitchWednesday, 19 June 2019 9:36 AM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FCaseSelector.html

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2FDataWires.html

For our program, the switch block tests to see if the light intensity on the ground is less than 50 (from the light sensor). Ie. Is it white or light coloured. If it is, the robot turns to the left (towards the black line).

Motor C off, B on

Or right motor on

If it is not and the intensity is greater than 50 (darker), then it turns to the right, away from the line.

Motor B off, C on

Or left motor on

This then loops forever

Robotics Challenge

This then loops forever

NOTE: The simplest of line-following programs will be a dual-state program, where the colour sensor either sees black or white and adjusts accordingly. The robot is not actually trying to follow the line but is trying to find the edge of it.


Hint

Robotics Challenge

Challenge 1

Test if your Driving Base works when following a lighter-coloured or Green line! If not, try setting the threshold again.


Extension Challenge 1


Hints

Robotics Challenge



Robotics Challenge

- Program the Driving Base to move and turn when it detects different colours.

- Explain how the switch block works with more than one decision- Act on sensor-based decisions

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=blocks%2FLEGO%2FCaseSelector.html




Explanation

The Switch block is a container that can contain two or more sequences of programming blocks. Each sequence is called a Case. A test at the beginning of the Switch determines which Case will run. Only one Case will run each time the Switch is executed.

This program has 3 test cases, rather than the standard two.

When no colour is detected, it drives forward

Multiple SwitchWednesday, 19 June 2019 10:36 AM

Robotics Challenge



When blue is detected, it turns to the right

When yellow is detected, it turns to the left


Challenge 1

Robotics Challenge

Challenge 1

Add a fourth case to make the motors stop when red is detected.


Robotics Challenge

- Use the medium motor to raise and lower the robot arm

- Explain how the medium motor works- Move the Cuboid

Reference: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/ev3_user_guide.pdf#medium_motor

So far, we have used the large motors for driving the robot wheels. We can also use Medium motor to perform other actions, such as lifting and turning things.

Instructions

Build this base


ExplanationThe medium motor lowers the arm; the robot moves forward; and then the arm raises

Medium Motor MovementWednesday, 19 June 2019 11:01 AM

Robotics Challenge

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/ev3_user_guide.pdf#medium_motor

http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/ev3_user_guide.pdf#medium_motor


Challenge 1

Try reversing and turning 90 degrees



Robotics Challenge


Robotics Challenge

Arena Design

need a circle 1200mm in diameter, 20mm thickness, with some feet so that it is raised 100mm from the ground. The Arena is painted black in the middle and 50mm white around the outside. The starting lines will need to be brown and placed as indicate below.

Diameter Arena Thickness Height Border Width Starting Line Length Starting Line Width Starting Line separation distance

1200mm 20mm 100mm 50mm 200mm 20mm 200mm

SumobotWednesday, 19 June 2019 1:10 PM

Robotics Challenge

Ruleshttps://robocupjunior.org.au/sites/default/files/RoboCup%20Junior%20South%20Australia%20sumo%20rules%202018.pdf

Robotics Challenge

https://robocupjunior.org.au/sites/default/files/RoboCup%20Junior%20South%20Australia%20sumo%20rules%202018.pdf

Build

Use a Combination of these two builds.

gear-bot-bi-e1011649...https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/gear-bot-bi-e1011649d42f190b289bebb8c1398010.pdf

Sumo Bot

Need the gear down advantage for 4 times the torque.

What is our Gear Ratio for the build below?

Want to know more?

Gears

Coding

Simple Robot Sumo Programming (no ultrasonic sensor)

From <https://www.autismcrc.com.au/educationresearch/node/33>

Sumo Bot Strategy 1Wednesday, 19 June 2019 11:16 AM

Robotics Challenge

https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/gear-bot-bi-e1011649d42f190b289bebb8c1398010.pdf




https://www.youtube.com/watch?v=JUsWU6F2sN4

https://www.autismcrc.com.au/educationresearch/node/33

From <https://www.autismcrc.com.au/educationresearch/node/33>

Robotics Challenge

https://www.autismcrc.com.au/educationresearch/node/33

Robotics Challenge

Build

Build Options

Strategies

Game Playing – Basic Strategy

There are two major tasks that your SumoBot will need to be able to do in order to be competitive.

Firstly it needs to be able to find the edge of the ring and then turn around. At a basic level if your Bot can continually drive forward to the edge of the ring and turn around you can enter the SumoBot competition

1.

Secondly it needs to search for the opponent and charge when the opponent is located, while still staying in the ring.

2.

1. Finding the edge of the ring

Algorithm for edge detection

Wait 5 sec

Stop motorsReverse motors at -50 for 1 rotationSpin around (motor B -100, motor C 100)

If sense colour that is less than 50 (white), then: [or >20]

Else it is black, so drive forward (motor B 100, motor C 100)

Using senor wait blocks: ●

Start the motors running. o

Wait until the colour sensor sees black. o

SumoBot Strategy 2Wednesday, 19 June 2019 1:13 PM

Robotics Challenge

If black, stop, reverse. ▪

If not black (white), move forward turning. ▪

Inside a loop use a switch that is conditional on the colour sensor. o

You can use the colour sensor in either colour model or reflected light intensity mode. In a switch, the top section is executed if the conditional statement is true. The bottom section is executed if the statement is false.

o

Using a loop and a switch:

Reference: https://www.youtube.com/watch?v=O5qfz6HPB_0&feature=youtu.be

Alternative

Reference: https://youtu.be/QAUhY6BJRY4?list=PLFd4sjeVCkV9hATGDPD6W_z7igg9fFCam

Reference: https://youtu.be/a1vGJDur6Os?list=PLFd4sjeVCkV9hATGDPD6W_z7igg9fFCam

Algorithm for edge and opponent detection

Wait 5 sec

Stop motorsReverse motors at -50 for 1 rotation

If sense colour that is less than 50 (white), then:

Robotics Challenge

https://www.youtube.com/watch?v=O5qfz6HPB_0&feature=youtu.be

https://youtu.be/QAUhY6BJRY4?list=PLFd4sjeVCkV9hATGDPD6W_z7igg9fFCam

https://youtu.be/QAUhY6BJRY4?list=PLFd4sjeVCkV9hATGDPD6W_z7igg9fFCam

https://youtu.be/a1vGJDur6Os?list=PLFd4sjeVCkV9hATGDPD6W_z7igg9fFCam

Reverse motors at -50 for 1 rotationSpin around (motor B -100, motor C 100)

drive forward at opponent (motor B 100, motor C 100)If ultrasonic sensor detects object (distance < 20) then:

Else spin around slowly (motor B -25, motor C 25)

Else

The objective here is to find the opponent using a sensor such as the ultrasonic sensor then charge at the opponent while ensuring that your SumoBot still stays within the ring.

This requires nested switches inside a loop:

If no, then turn around. oIf yes then enter the second switch based on the ultrasonic sensor:oIn the second switch, if the opponent cannot be seen, turn in a circle at low speed looking for the opponent. If the opponent can be seen then charge full power.

o

Inside a loop you need a switch that is checking whether you are on the playing surface. ●

Take care when you turn the motors on, if you ask for a set number of revolutions or time, the execution will stop whilst the motors are turning. Setting the motors to ON, allows the execution to carry on, leaving the motors running.

Reference: https://www.youtube.com/watch?v=O5qfz6HPB_0&feature=youtu.be

Alternative 1

Robotics Challenge

https://www.youtube.com/watch?v=O5qfz6HPB_0&feature=youtu.be

Reference: https://youtu.be/GoOcdngDeYw

Alternative 2

Reference: https://www.youtube.com/watch?v=ZC2WVCtvtM8&feature=youtu.be

Robotics Challenge

https://youtu.be/GoOcdngDeYw

https://www.youtube.com/watch?v=ZC2WVCtvtM8&feature=youtu.be

Basic Program

Advanced Program

Use Strategy 2 and multi-task with medium motor with spinning arm

Build: Robocoaster, but with spinning attachment

Robocoaster


ecb80d_778397542a...


Robotics Challenge


Robotics Challenge

From <https://www.ironreignrobotics.com/2016-04-12-sumo-tips/>


Robotics Challenge

https://www.ironreignrobotics.com/2016-04-12-sumo-tips/

Reference, Data Wires: http://localhost:58401/localizedMapping_B90BDB05-F70E-4B0B-8CEA-031DCF197215/en-GB/editor/page.html?Path=editor%2FDataWires.html

Robotics Challenge




Path=editor%2FDataWires.html

Robotics Challenge




Robotics Challenge

http://www.sugobot.com/

https://www.lego.com/en-us/mindstorms/build-a-robot/track3r


Robotics Challenge

http://www.sugobot.com/

https://www.lego.com/en-us/mindstorms/build-a-robot/track3r

1. LEGO Mindstorms - Through The Classroom Door · Play the Curved Move tutorial within LEGO...

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Transcript of 1. LEGO Mindstorms - Through The Classroom Door · Play the Curved Move tutorial within LEGO...