Building Robots with LEGO Mindstorms NXT (eBook)

Front Cover 1
LEGO ® MINDSTRORMS ® NXT 4
Copyright Page 5
Contents 14
Foreword 24
Preface 26
Chapter 1. Understanding LEGO R Geometry 28
Introduction 29
Expressing Sizes and Units 29
Squaring the LEGO World: Vertical Bracing 31
Tilting the LEGO World: Diagonal Bracing 33
TECHNIC Liftarms:Angles Built In 36
Summary 38
Chapter 2. Playing with Gears 40
Introduction 41
Counting Teeth 41
Gearing Up and Down 42
Riding That Train: The Geartrain 44
Worming Your Way: The Worm Gear 46
Limiting Strength with the Clutch Gear 47
Placing and Fitting Gears 50
Using Pulleys, Belts, and Chains 57
Making a Difference: The Differential 62
Summary 65
Chapter 3. Controlling Motors 68
Introduction 69
Pacing, Trotting, and Galloping 70
Mounting Motors 75
Wiring Motors 78
Controlling Power 81
Coupling Motors 84
Summary 86
Chapter 4. Reading Sensors 88
Introduction 89
Digital Sensor Ports with the I2C (Inter-Integrated Circuit) Interface 89
The Touch Sensor 92
The Light Sensor 98
The Ultrasonic Sensor 104
The Servo Motor Encoder (Rotation Sensor) 106
Sensor Tips and Tricks 110
Other Sensors 115
Summary 125
Chapter 5. What's New with the NXT? 126
Introduction 127
Notable Enhancements 127
The NXT File System 128
The LCD Screen 130
Digital Interfaces and Bluetooth 132
Future Possibilities 136
Summary 138
Chapter 6. Building Strategies 140
Introduction 141
Studless Building Techniques 141
Maximizing Modularity 145
Loading the Structure 148
Putting It All Together: Chassis, Modularity, and Load 151
Hybrid Robots: Using Studless and Studded LEGO Pieces 156
Summary 158
Chapter 7. Programming the NXT 160
Introduction 161
What Is the NXT Programmable Brick? 161
Introduction to Programming the NXT Brick 164
Using RobotC 168
Using Other Programming Languages 169
Code Samples 172
Running Independent Tasks 184
Summary 185
Chapter 8. Playing Sounds and Music 186
Introduction 187
Communicating through Tones 187
Playing Music 188
Converting Sound and Music Files 190
Summary 194
Chapter 9. Becoming Mobile 196
Introduction 197
Building the Simple Differential Drive 197
Building a Skid-Steer Drive 207
Building a Steering Drive 210
Building a Synchro Drive 214
Other Configurations 218
Summary 219
Chapter 10. Getting Pumped: Pneumatics 220
Introduction 221
Recalling Some Basic Science 221
Pumps and Cylinders 222
Controlling the Airflow 227
Building Air Compressors 229
Building a Pneumatic Engine 233
Summary 237
Chapter 11. Finding and Grabbing Objects 238
Introduction 239
Operating Hands and Grabbers 239
Finding Objects 249
Distinguishing Objects and Obstacles 252
Summary 255
Chapter 12. Doing the Math 256
Introduction 257
Multiplying and Dividing 258
Averaging Data 260
Using Interpolation 267
Understanding Hysteresis 270
Higher Math 272
Summary 275
Chapter 13. Knowing Where You Are 276
Introduction 277
Choosing Internal or External Guidance 277
Looking for Landmarks: Absolute Positioning 278
Map Matching Using Ultrasonic Sensor 286
Combining Compass Sensor to Increase Precision 287
Measuring Movement: Relative Positioning 287
Measuring Movement: Acceleration Sensor 289
Summary 290
Chapter 14. Classic Projects 292
Introduction 293
Exploring Your Room 293
Following a Line 298
Summary 305
Chapter 15. Building Robots That Walk 306
Introduction 307
The Theory behind Walking 307
Building Legs 313
Building a Four-Legged Robot 315
Building a Six-Legged Steering Robot 318
Designing Bipeds 323
Summary 330
Chapter 16. Robotic Animals 332
Introduction 333
Creating a Monkey 333
Programming Your Monkey 341
Creating a Mouse 343
Creating Other Animals 351
Summary 352
Chapter 17. Solving a Maze 354
Introduction 355
Finding the Way Out 355
Building a Maze Runner 360
Building a Maze Solver 366
Summary 375
Chapter 18. Drawing and Writing 376
Introduction 377
Creating a Logo Turtle 377
Tape Writer 388
Further Suggestions 396
Summary 398
Chapter 19. Racing Against Time 400
Introduction 401
Hosting and Participating in Contests 401
Optimizing Speed 403
Combining Speed with Precision 404
Summary 408
Chapter 20. Hand-to-Hand Combat 410
Introduction 411
Building a Robotic Sumo 411
Attack Strategies 415
Getting Defensive 418
Testing Your Sumo 419
Summary 420
Chapter 21. Searching for Precision 422
Introduction 423
Precise Positioning 423
Shooting with Precision 424
Fine Motor Skills of Your Robot 425
Fire Fighting in a Maze 428
Playing Soccer 429
Summary 430
Appendix A. Resources 432
Introduction 433
Bibliography 433
General Interest Sites 434
Chapter 1 Understanding LEGO Geometry 435
Chapter 2 Playing with Gears 435
Chapter 3 Controlling Motors 436
Chapter 4 Reading Sensors 436
Chapter 5 What's New with the NXT 438
Chapter 6 Building Strategies 439
Chapter 7 Programming the NXT 439
Chapter 8 Playing Sounds and Music 440
Chapter 9 Becoming Mobile 440
Chapter 10 Getting Pumped: Pneumatics 441
Chapter 11 Finding and Grabbing Objects 442
Chapter 12 Doing the Math 442
Chapter 13 Knowing Where You Are 443
Chapter 14 Classic Projects 444
Chapter 15 Building Robots that Walk 444
Chapter 16 Robotic Animals 444
Chapter 17 Solving a Maze 445
Chapter 18 Drawing and Writing 445
Chapter 19 Racing Against Time 446
Chapter 20 Hand-to-Hand Combat 446
Chapter 21 Searching for Precision 447
Appendix B. Matching Distances 448
Appendix C. Note Frequencies 454
Appendix D. Math Cheat Sheet 456
Index 460