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by James J. Trobaugh
Winning Design!: LEGO MINDSTORMS NXT Design Patterns for Fun and Competition
Copyright
About the Author
About the Technical Reviewer
Introduction
Four Principals of a Winning Robot
Getting the Most from This Book
1. Introduction
1. Design Considerations
1.1. Understanding the Rules
1.1.1. Knowing the FLL Robot Parts Rules
1.1.2. Studying the Game Mission Rules
1.1.3. Grouping Missions into Zones
1.2. Tasking the Missions
1.3. Mapping Out the Field
1.4. Working with Constraints and Obstacles
1.4.1. Field Obstacles
1.4.2. Environmental Obstacles
1.5. Choosing Software
1.5.1. Introducing ROBOLAB
1.5.2. Introducing NXT-G
1.6. Understanding the LEGO MINDSTORMS Hardware
1.6.1. NXT Intelligent Brick
1.6.2. Touch Sensor
1.6.3. Light Sensor
1.6.4. Ultrasonic Sensor
1.6.5. Servo Motor
1.7. Beginning the Design Process
1.7.1. Brainstorming as a Team
1.7.2. Presenting Your Design
1.7.3. Drawing Your Design
1.8. Resource Contention
1.9. Summary
2. Chassis Design
2.1. Understanding Basic Design Aspects
2.1.1. Size
2.1.2. Power
2.1.3. Speed
2.1.4. Batteries
2.2. Finding the Center of Gravity
2.3. Gearing Up
2.3.1. Spur Gears
2.3.2. Crown Gears
2.3.3. Bevel Gears
2.3.4. Double Bevel Gears
2.3.5. Worm Gears
2.3.6. Clutch Gears
2.3.7. Pulleys
2.3.8. Knob Wheel
2.3.9. Gear Ratios
2.4. Getting Your Wheels
2.4.1. Circumference
2.4.2. Mounting
2.5. Treads
2.6. Exploring the Most Common Chassis
2.6.1. Two-Wheeled Robots
2.6.2. Three-Wheeled Robots
2.6.3. Four-Wheeled Robots
2.6.4. Six-Wheeled Robots
2.6.5. Tracked Robots
2.7. Troubleshooting
2.8. Summary
2. Navigation
3. Going Straight
3.1. Design Influences
3.1.1. Wheelbase
3.1.2. Weight
3.1.3. Wheel Circumference
3.1.4. Wheel Support
3.2. Programming to Go Straight
3.2.1. Move Block
3.2.2. Motor Block
3.2.3. Reset Motor Block
3.2.4. Custom MyMove Block
3.3. Batteries
3.3.1. Replaceable Batteries
3.3.2. Rechargeable Battery Packs
3.4. Helpers
3.4.1. Wall Following
3.4.2. Base Jigs
3.5. Tips
3.5.1. Motor Matching
3.5.2. Removing Gear Slack
3.5.3. Troubleshooting
3.6. Summary
4. Consistent Turning
4.1. Turning Designs
4.1.1. Differential Steering Systems
4.1.2. Steering Drive Systems
4.2. Calculating Turns
4.2.1. Single-Wheel Turns
4.2.2. Dual-Wheel Pivot
4.3. Programming
4.3.1. Move Block
4.3.2. Motor Blocks
4.3.3. Creating a Custom MyPivot Block
4.3.4. Creating a Custom MyTurn Block
4.4. Summary
5. Line Following and Detection
5.1. NXT Light Sensor
5.1.1. Ambient Light
5.1.2. Reflective Light
5.2. Positioning the Light Sensor
5.3. Calibrating the Light Sensor
5.3.1. Making the Calibration
5.3.1.1. Using the NXT-G Calibration Block
5.3.1.2. Using a Local File
5.3.2. Viewing the Calibration
5.3.3. Deleting Calibration Data
5.4. Shielding the Light Sensor
5.5. Line Following
5.5.1. A Dual-State Example
5.5.2. Defining More Than Two States
5.5.3. Implementing a Proportional Algorithm
5.5.4. Using Dual Light Sensors
5.6. Line Detection
5.6.1. Finding a Line
5.6.2. Detecting Color in Lines
5.7. Summary
6. Squaring Up
6.1. Squaring Up with Walls
6.1.1. Passive Wall Squaring
6.1.2. Interactive Wall Squaring
6.2. Aligning with Lines and Edges
6.3. Summary
7. Collision Detection
7.1. Touch Sensor
7.1.1. Monitoring the Pressed State
7.1.2. Detecting the Released State
7.1.3. Achieving the Bumped State
7.2. Light Sensor
7.3. Ultrasonic Sensor
7.4. Summary
3. Manipulation
8. Passive Attachments
8.1. Types of Passive Attachments
8.2. Pushing
8.2.1. Bumper
8.2.2. Plow
8.2.3. Delivery Box
8.3. Hooking
8.3.1. Simple Hook
8.3.2. Fish Hook
8.3.3. Carabineers
8.3.4. Fork
8.4. Dumping
8.5. Collecting
8.5.1. One-Way Box
8.5.2. Sweeper
8.6. Spring-Loaded Attachments
8.7. Attachment Interfaces
8.7.1. Snapping Pins
8.7.2. Nonsnapping Pins
8.7.3. Magnets
8.8. Summary
9. Power Attachments
9.1. Power Attachment Locations
9.1.1. Adding an Attachment to the Front
9.1.2. Adding an Attachment to the Center
9.1.3. Adding an Attachment to the Rear
9.2. Types of Attachments
9.2.1. Attachments That Grab
9.2.1.1. Claw
9.2.1.2. Vise Grip
9.2.1.3. Trap
9.2.2. Attachments That Lift
9.2.2.1. Lever
9.2.2.2. Forklift
9.2.3. Attachments That Push
9.2.3.1. The LEGO Actuator
9.2.3.2. Custom Actuator
9.3. Power Interfaces
9.3.1. Direct Connections
9.3.2. Gears
9.3.3. Driveshaft
9.4. Summary
10. Pneumatics
10.1. Operation of Pneumatic Parts
10.2. Available Pneumatic Parts
10.2.1. Pumps
10.2.2. Air Tank
10.2.3. Pneumatic Switches
10.2.4. Pneumatic Actuators
10.2.5. T-Joints and Air Hoses
10.2.6. Air Gauges
10.3. Integrating Pneumatics with the NXT Robot
10.3.1. Starting Out
10.3.2. Triggering the Attachment
10.3.3. Building Attachments
10.4. Summary
4. Programming
11. Master Programs
11.1. My Blocks
11.1.1. Defined Start and End Events
11.1.2. Example Mission Code
11.2. Simple Sequencer Program
11.2.1. The Setup
11.2.2. Creating My Blocks
11.2.3. Creating the Sequencer
11.2.4. Looking at the Code
11.3. Creating a Better Sequencer
11.3.1. Program Navigation
11.3.2. Sequence Rollover
11.4. Creating an Advanced Sequencer
11.4.1. Program Display
11.4.2. Saving State
11.5. Summary
12. Program Management
12.1. NXT Updates
12.2. RoboLab Updates
12.3. Managing Source Code
12.3.1. Single Computer
12.3.2. Network of Shared Computers
12.3.3. Flash Drives
12.4. File Naming
12.5. Summary
13. Documentation and Presentation
13.1. Program Documentation
13.1.1. Program Description
13.1.2. Printed Copies of Programs
13.2. Robot Design Documentation
13.2.1. Documenting Chassis Design
13.2.2. Attachment Design and Description
13.3. Presenting to the Technical Judges
13.3.1. Describing Your Solution Process
13.3.2. Presenting Your Technical Notebook
13.3.3. Talking to the Judges
13.4. Summary
A. Building DemoBot
A.1. Assembling the Left-side Wheels
A.1.1. Left-Side Submodel One
A.1.2. Left-Side Submodel Two
A.1.3. Left-Side Main Assembly
A.2. Assembling the Right-Side Wheels
A.2.1. Right-Side Submodel One
A.2.2. Right-Side Submodel Two
A.3. Assembling DemoBot
B. Building the Motor Matching Machine
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2. Chassis Design
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3. Going Straight
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