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Previous Chapter

8. Final Thoughts

Glossary

Dead reckoning: A method of navigation in which one’s position is determined by adding the distance and direction traveled to the starting position. Position error in this type of navigation tends to get larger as the distance traveled increases.
Error: The difference between the desired and actual values of a parameter being controlled in a control system.
EV3: The third generation of the Mindstorms robot hardware and software.
Feedback: Information about the operation of a system, used for either control, or monitoring and troubleshooting.
- Control: In the context of a robot controlling its own operation, such as following a line, one or more sensors are used to provide information about system operation, then that information is compared to the desired operation to create an error signal, which is used to adjust system operation.
- Monitoring and troubleshooting: Sometimes it is useful to have the robot provide information back to the user running the robot (e.g., “line detected”) to ensure the robot is really doing what it appears to be doing, and to assist with troubleshooting.
Firmware: Quasi-permanent software stored in read-only memory and designed to facilitate interaction with a computing system’s hardware.
Friction: A physical quality that resists sliding or slipping motion between two surfaces.
Geometry: A branch of mathematics that deals with the properties of shapes like lines; angles; triangles, squares, rectangles, and other polygons; circles and ellipses; and so on.
Handoff: Leaving the motors running at the transition from one My Block to the next, saving time by not stopping and restarting the robot.
Loop: A program construct that executes one or more commands repetitively. A loop can execute a specified number of times, execute until a condition is met, or run until the user terminates the program (an infinite loop).
Modularity: The principle of dividing programs into smaller, more manageable, and reusable blocks.
My Block: A subprogram, or subroutine, that is designed to perform a repetitive task or set of tasks. Such a subroutine is programmed, debugged, and tuned once, then used multiple times in other programs.
Parallel execution: Running two independent sections of software simultaneously. This can be done with the EV3 by plugging the output of a block into the inputs of two or more subsequent blocks.
pi (π): A math constant used to, among many other things, convert between the diameter and circumference of a circle. Its value is approximately 3.14. The number extends to an infinite number of decimal places, 3.1415926…, but for our purposes 3.14 will suffice.
Proportional controller: A type of controller that adjusts the amount of correction in direct relation to the amount of error; a small error, or deviation from the desired value, results in a small correction to move closer to the desired value, also called the set point; a large error generates a large correction to move more quickly toward the set point.
Sequence plug entry: The point in a programming block that connects to the previous block.
Sequence plug exit: The point in a programming block that connects to the next block.
Set point: The desired value, such as distance or reflected light intensity, of a system being controlled.
SONAR: Acronym for SOund NAvigation and Ranging. This technique measures the time it takes for a transmitted sound wave to travel to an object, reflect off of it, and return; it then uses that time to compute the distance to the object.
Torque: A physical quantity that tends to create rotation. For instance, a motor produces torque to rotate its shaft, which could be attached to a gear or wheel and create movement. A lever attached to a shaft can be used to create torque on the shaft, like a wrench can be used to create torque on a bolt.
Track width: Center-to-center distance between the two drive wheels of the robot.
Traction: In the context of a wheel or tire on a robot, traction could be described as the friction between the tire and the surface on which it is rolling. This friction allows the tire to exert force on the surface to move the robot.
Unit conversion: Translation of a value from one type of measurement to another (e.g., converting 1 inch to 2.54 centimeters).
Variable: An element used to store a value that can be changed. In EV3 programming, the Variable block is under the Data Operations tab. It is set to Read mode when its value is to be passed to another element and Write mode when the value it contains is to be replaced with a new value. A Variable block can be any one of the following data types: Text, Numeric, Logic, Numeric Array, or Logic Array.
Waypoint: A location with precisely known coordinates that can be used for correcting navigation position.

Index

A

Accelerate/acceleration

Action blocks

SeeProgramming block types (tabs

Advanced blocks

SeeProgramming block types (tabs

B

Backup (My Block)

Backup2 (My Block)

Brick Status Light block

SeeProgramming blocks

Bumper

C

Calibration

Callbacks

Cart

Challenge

Choreograph

Coaches

Color sensor

ambient light intensity mode

calibrate modes

calibrating

color mode

compare modes

LED

measure modes

reflected light intensity mode

resetting

Combo program

Commenting (code)

Competing

Conditional constructs

Consistency

Core values

Core values judging

SeeJudging rooms

D

Data Operations blocks

SeeProgramming block types (tabs

Data Operations tab

SeeProgramming block types (tabs

Data wires

Dead reckoning

Decelerate/deceleration

Demo

Diameter

Differential

Download and Run, 12, 14–17, 18, 20, 34

Download (program to brick)

E

Education Edition

Error

Errors

F

Feedback

Finding line intersections, T’s, and L’s

SeeLines

Finding lines

SeeLines

Firmware, updating

Flat view

Flowchart

Flow Control blocks

SeeProgramming block types (tabs

Following lines

SeeLines

Forward (My Block)

Forward2 (My Block)

G

Gain

SeeProportional control

Geometry

Goal setting

Gyro sensor

SeeSensors

GyroStart variable

SeeVariables

H

Handoff(s)

Handout

Hardware

Hardware page

Home editions

I

Input parameters

J, K

Jig

Judging rooms

Core values

Project

Robot Design

L

Large Motor block

SeeProgramming blocks

Lines

finding

finding intersections

following

squaring on

Lobby

Looping constructs

M

Matching

color sensors

motors

Modularity

Move Steering block

SeeProgramming blocks

My Block Builder

My Blocks

ChgFwdSpd

Combo

Forward

Forward2

Forward3

Forward4

LineFind

LineFollow

LineTFind

LnSqu

WallFollow

WallLean

N

Navigation

O

Organizing

P, Q

Parallel execution

Port

Portfolio

Poster

Practice

Presentation

Program development

Program loops

SeeLooping constructs

Programming blocks

Brick Status Light

Color Sensor

Comment

Display

Large Motor

Loop

Math

Move Steering

Sound

Switch

Ultrasonic Sensor

Variable

Wait

Programming block types (tabs)

Action

Advanced

Data Operations

Flow Control

My Blocks

Sensor

Programming window

Programs

Project judging

SeeJudging rooms

Project Properties window

Projects

Proportional control

gain

tuning

R

Radius

Reflected light intensity

SeeColor sensor

Rehearse

Resetting the brick

Robot

designing and building

requirements

Robot Design judging

SeeJudging rooms

Robot game

analysis

Rubric

Run Recent tab

Run Selected

S

Sensor blocks

SeeProgramming block types (tabs

Sensors

color

gyro

motor rotation

touch

ultrasonic

Sequence Plug Entry

Sequence Plug Exit

Sound block

SeeProgramming blocks

Sound Navigation and Ranging (SONAR)

Sounds, programming

Spinning

SeeTurning

Squaring up on lines

SeeLines

Subroutines

SeeMy Blocks

T

Tabbed view

Team-building

Teamwork

Toolbox

Torque

Track width

Traction

Troubleshooting

Tuning

Turning

SpinLeft

SpinRight

TurnLeft

TurnRight

U

Ultrasonic sensor

Unit conversion

V

Variables

GyroStart

Variable block

W, X, Y, Z

Walls

following

squaring up on

Wiggle

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Table of Contents for Back Matter

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Index

A

B

C

D

E

F

G

H

I

J, K

L

M

N

O

P, Q

R

S

T

U

V

W, X, Y, Z

Table of Contents for
Back Matter