Trobaugh Winning Design!

LEGO MINDSTORMS EV3 Design Patterns for Fun and Competition
2. ed
ISBN: 978-1-4842-2105-1
Verlag: Apress
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 270 Seiten

Design that works! It's what you need if you're building and competing with LEGO MINDSTORMS EV3 robotics. You'll find uses for the new light sensors and gyro sensors in navigation, helping you to follow lines and make turns more consistently. Approach collision detection with greater confidence through EV3's ultrasonic sensor. Learn new designs for power attachments.Winning Design! is about building with LEGO MINDSTORMS EV3 for fun, for education, but especially for competition. Author James Trobaugh is an experienced coach and leader in the FIRST LEGO League. In this book, he shares his hard-won knowledge about design principles and techniques that contribute toward success in robotics competitions.Winning Design! unlocks the secrets of reliable design using LEGO MINDSTORMS EV3. You'll learn proven design patterns that you can employ for common tasks such as turning, pushing, and pulling. You'll reduce and compensate for variation in performance from battery charge levels and motor calibration differences. You'll produce designs that won't frustrate you by not working, but that will delight you with their reliable performance in the heat of competition. Good design is about more than just the hardware. Software counts for a lot, and Winning Design! has you covered. You'll find chapters on program design and organization with tips on effective coding and documentation practices. You'll learn about master programs and the needed flexibility they provide. There's even a section on presenting your robot and software designs to the judges.Winning Design! is the book you need if you're involved in competitions such as FIRST LEGO League events. Whether coach, parent, or student, you'll find much in this book to make your design and competition experience fun and memorable, and educational. Don't be without this book if you're leading a team of young people as they build skills toward a future in technology.What You Will Learn
Build winning robots on a foundation of good chassis design
Reduce variability in robot mechanical movements
Design modular attachments for quick change during competition
Solve navigation problems such as steering, squaring up, and collision detection 
Manage software using master programs and other techniques
Power your robot attachments via motors and pneumatics
Who This Book Is ForStudents, parents, teachers, and coaches involved in LEGO MINDSTORMS EV3 robot design and programming. 


James J. Trobaugh is an experienced coach and leader in the FIRST LEGO League. He is author of the acclaimed book Winning Design!, focusing on the physical aspects of LEGO MINDSTORMS robot design. He has been involved with the FIRST LEGO League since 2004 as coach for Team Super Awesome, and as a technical judge at the LEGO World Festival. He is also the FIRST LEGO League Director of the Forsyth Alliance in Forsyth County, Georgia. James started out as a LEGO hobbyist by founding the North Georgia LEGO Train Club in 1998, and has found in LEGO robotics a natural blending of his LEGO hobby and his day job as a software architect. An added bonus is the joy of sharing his love of technology not only with his own children, but with kids in general.
James J. Trobaugh has a degree in Computer Science and has been working as a software architect for 26 years. He lives in the Atlanta, Georgia area with his two children, Ian and Amy.James has been involved with FIRST LEGO League since 2004 as a coach for TeamSuper Awesome and as a technical judge at the LEGO World Festival. He was also the FLL director of the Forsyth Alliance in Forsyth County Georgia.
James started out as a LEGO hobbyist by founding the North Georgia LEGO Train Club in 1998 and has found that LEGO robotics is a natural blending of his LEGO hobby and his day job as a software architect. The added bonus is the joy of getting to share his love of technology not only with his own children but with kids in general.

Autoren/Hrsg.

Trobaugh, James Jeffrey

Inhaltsverzeichnis

1;Contents at a Glance;5
2;Contents;6
3;About the Author;13
4;About the Technical Reviewer;14
5;Introduction;15
6;Chapter 1: Design Considerations;17
6.1;Understanding the Rules;17
6.2;Knowing the FIRST LEGO League Robot Parts Rules;18
6.3;Studying the Game Mission Rules;18
6.4;Grouping Missions into Zones;19
6.5;Tasking the Missions;19
6.6;Mapping Out the Field;20
6.7;Working with Constraints and Obstacles;21
6.7.1;Field Obstacles;22
6.7.2;Environmental Conditions;23
6.8;The EV3 Software;24
6.9;Understanding the LEGO MINDSTORMS Hardware;25
6.9.1;EV3 Intelligent Brick;25
6.9.2;Touch Sensor;27
6.9.3;Gyro Sensor;27
6.9.4;Color Sensor;28
6.9.5;Ultrasonic Sensor;28
6.9.6;Large Servo Motor;29
6.9.7;Medium Servo Motor;29
6.10;Beginning the Design Process;30
6.10.1;Brainstorming as a Team;30
6.10.2;Presenting Your Design;31
6.10.3;Drawing Your Design;31
6.11;Resource Contention;32
6.12;Summary;32
7;Chapter 2: Chassis Design;33
7.1;Understanding Basic Design Aspects;33
7.1.1;Size;33
7.1.2;Power;34
7.1.3;Speed;34
7.1.4;Batteries;34
7.2;Finding the Center of Gravity;34
7.3;Gearing Up;38
7.3.1;Spur Gears;38
7.3.2;Crown Gears;39
7.3.3;Bevel Gears;39
7.3.4;Double Bevel Gears;40
7.3.5;Worm Gears;41
7.3.6;Clutch Gears;41
7.3.7;Pulleys;42
7.3.8;Knob Wheel;43
7.3.9;Gear Ratios;43
7.4;Getting Your Wheels;45
7.4.1;Circumference;45
7.4.2;Mounting;46
7.4.3;Treads;48
7.5;Exploring the Most Common Chassis;49
7.5.1;Two-Wheeled Robots;49
7.5.2;Three-Wheeled Robots;50
7.5.3;Four-Wheeled Robots;50
7.5.4;Tracked Robots;51
7.6;Troubleshooting;52
7.7;Summary;53
8;Chapter 3: Going Straight;54
8.1;Design Influences;54
8.1.1;Wheelbase;54
8.1.2;Weight;55
8.1.3;Wheel Circumference;55
8.1.4;Wheel Support;56
8.2;Programming to Go Straight;58
8.2.1;Move Steering Block;59
8.2.2;Move Tank Block;59
8.2.3;Custom MyMove Steering Block;60
8.3;Batteries;65
8.3.1;Replaceable Batteries;65
8.3.2;Rechargeable Battery Packs;66
8.4;Helpers;66
8.4.1;Wall Following;66
8.5;Base Jigs;70
8.6;Tips;70
8.7;Motor Matching;70
8.8;Removing Gear Slack;71
8.9;Troubleshooting;72
8.10;Summary;72
9;Chapter 4: Consistent Turning;73
9.1;Turning Designs;73
9.1.1;Differential Steering Systems;73
9.1.2;Steering Drive Systems;75
9.2;Calculating Turns;76
9.2.1;Single-Wheel Turns;76
9.2.2;Dual-Wheel Pivot;78
9.3;Programming;79
9.3.1;Move Steering Block;79
9.3.2;Move Tank Block;80
9.3.3;Creating a Custom MyPivot Block;80
9.3.4;Creating a Custom MyTurn Block;82
9.4;Gyro Sensor;82
9.4.1;Calibrating the Gyro Sensor;83
9.4.2;Using the Gyro Sensor to Make a Turn;83
9.4.3;Mounting the Gyro Sensor on Your Robot;84
9.5;Summary;84
10;Chapter 5: Line Following and Detection;85
10.1;EV3 Color Sensor;85
10.1.1;Ambient Light;86
10.1.2;Reflective Light;86
10.1.3;Color Mode;86
10.2;Positioning the Color Sensor;86
10.3;Calibrating the Color Sensor;88
10.3.1;Making the Calibration;88
10.3.2;Using the EV3 Calibration Block;88
10.3.3;Using a Local File;90
10.4;Viewing the Calibration;91
10.4.1;Deleting Calibration Data;92
10.5;Shielding the Color Sensor;92
10.6;Line Following;93
10.6.1;A Dual-State Example;93
10.6.2;Defining More Than Two States;94
10.6.3;Implementing a Proportional Algorithm;96
10.6.4;Using Dual Color Sensors;97
10.7;Line Detection;98
10.7.1;Finding a Line;99
10.7.2;Detecting Color in Lines;101
10.8;Summary;101
11;Chapter 6: Squaring Up;102
11.1;Squaring Up;102
11.1.1;Squaring Up with Walls;102
11.1.2;Passive Wall Squaring;103
11.1.3;Interactive Wall Squaring;106
11.2;Aligning with Lines and Edges;108
11.3;Summary;109
12;Chapter 7: Collision Detection;110
12.1;Touch Sensor;110
12.1.1;Monitoring the Pressed State;110
12.1.2;Detecting the Released State;113
12.1.3;Achieving the Bumped State;114
12.2;Color Sensor;115
12.3;Ultrasonic Sensor;117
12.4;Summary;118
13;Chapter 8: Passive Attachments;119
13.1;Types of Passive Attachments;120
13.1.1;Pushing;120
13.1.1.1;Bumper;120
13.1.1.2;Plow;121
13.1.1.3;Delivery Box;122
13.1.2;Hooking;123
13.1.2.1;Simple Hook;123
13.1.2.2;Fishing Hook;125
13.1.2.3;Carabiners;125
13.1.2.4;Fork;127
13.1.3;Dumping;128
13.1.4;Collecting;131
13.1.4.1;One-Way Box;131
13.1.4.2;Sweeper;133
13.1.5;Spring-Loaded Attachments;133
13.2;Attachment Interfaces;135
13.2.1;Snapping Pins;136
13.2.1.1;Nonsnapping Pins;136
13.2.1.2;Magnets;137
13.3;Summary;138
14;Chapter 9: Power Attachments;139
14.1;Power Attachment Locations;139
14.1.1;Adding an Attachment to the Front;139
14.1.2;Adding an Attachment to the Center;140
14.1.3;Adding an Attachment to the Rear;141
14.2;Types of Attachments;142
14.2.1;Attachments That Grab;142
14.2.1.1;Claw;142
14.2.1.2;Vise Grip;143
14.2.1.3;Trap;143
14.2.2;Attachments That Lift;145
14.2.2.1;Lever;145
14.2.2.2;Forklift;146
14.2.3;Attachments That Push;146
14.3;The LEGO Actuator;147
14.3.1;Custom Actuator;148
14.4;Power Interfaces;149
14.4.1;Direct Connections;149
14.4.2;Gears;150
14.4.3;Driveshaft;151
14.5;Summary;152
15;Chapter 10: Pneumatics;153
15.1;Operation of Pneumatic Parts;153
15.1.1;Available Pneumatic Parts;154
15.1.1.1;Pumps;155
15.1.1.2;Air Tank;156
15.1.1.3;Pneumatic Switches;157
15.1.1.4;Pneumatic Actuators;158
15.1.1.5;T-Joints and Air Hoses;159
15.1.1.6;Air Gauges;160
15.1.2;Integrating Pneumatics with the EV3 Robot;161
15.1.2.1;Starting Out;161
15.1.2.2;Triggering the Attachment;162
15.1.3;Building Attachments;162
15.2;Summary;163
16;Chapter 11: Master Programs;164
16.1;My Blocks;164
16.1.1;Defined Start and End Events;164
16.1.1.1;Example Mission Code;165
16.2;Simple Sequencer Program;166
16.2.1;The Setup;166
16.2.2;Creating My Blocks;167
16.2.3;Creating the Sequencer;167
16.2.4;Looking at the Code;167
16.3;Creating a Better Sequencer;168
16.3.1;Program Navigation;168
16.3.2;Sequence Rollover;169
16.4;Creating an Advanced Sequencer;173
16.4.1;Program Display;174
16.4.2;Saving State;175
16.5;Summary;176
17;Chapter 12: Program Management;177
17.1;Ev3 Updates;177
17.2;Managing Source Code;180
17.2.1;Single Computer;181
17.2.2;Network of Shared Computers;182
17.2.3;Flash Drives;182
17.2.4;File Naming;182
17.3;Summary;183
18;Chapter 13: Documentation and Presentation;184
18.1;Program Documentation;184
18.1.1;Program Description;184
18.1.2;Printed Copies of Programs;186
18.2;Robot Design Documentation;187
18.2.1;Documenting Chassis Design;187
18.2.2;Attachment Design and Description;188
18.3;Presenting to the Technical Judges;189
18.3.1;Describing Your Solution Process;189
18.3.2;Presenting Your Technical Notebook;189
18.3.3;Talking to the Judges;190
18.4;Summary;190
19;Appendix A: Building DemoBot;191
20;Index;268