contents in detail introduction...xxi 1 LEGO and robots: a great combination the EV3 programming environment... 5

Transcription

1 contents in detail introduction...xxi who this book is for...xxi prerequisites...xxi what to expect from this book...xxi how best to use this book...xxiii 1 LEGO and robots: a great combination... 1 LEGO MINDSTORMS EV the LEGO MINDSTORMS EV3 set... 2 the LEGO MINDSTORMS EV3 software... 3 software, firmware, and hardware... 3 art and engineering... 3 qualities of a good program... 3 what you ll learn from this book... 4 the LEGO MINDSTORMS online community... 4 what s next? the EV3 programming environment... 5 a tour through the MINDSTORMS software... 5 A: the programming canvas... 6 B: the content editor... 6 C: the programming palettes... 6 D: the hardware page... 6 E: the download and run buttons... 6 writing an EV3 program... 7 general layout of a block... 7 your first program... 8 saving your work... 8 running your program... 9 project properties... 9 making back-up copies... 9 your second program...10 comments...11 adding a comment...11 tips for working with comments...12 context help...12 conclusion TriBot: the test robot TriBot components...13 building the motor and wheel assembly...16

2 building the caster wheel assembly...20 assembling the caster wheel with the home edition...20 assembling the caster wheel with the education edition...22 adding the EV3 brick...23 mounting the infrared or ultrasonic sensor...23 connecting the color sensor...24 attaching the gyro sensor (education edition)...26 building a touch sensor bumper...26 attaching the cables...29 attaching the touch sensor...29 attaching the infrared or ultrasonic sensor...29 attaching the color sensor...30 attaching the gyro sensor (education edition)...30 attaching the motors...30 alternate placement for the color sensor...30 alternate placement for the ultrasonic or infrared sensor...31 building a lift arm...32 conclusion motion the EV3 motors...39 the move steering block...39 mode...40 steering...40 power...41 duration...41 brake at end...41 port...42 port view...42 the EV3 intelligent brick view menu...43 the ThereAndBack program...43 moving forward...43 turning around...43 testing a single block...44 moving back to the start...44 the AroundTheBlock program...44 the first side and corner...45 the other three sides and corners...45 testing the program...46 the move tank block...46 the large motor and medium motor blocks...46 the lift arm the invert motor block a problem with coasting...48 further exploration...50 conclusion...50 xii contents in detail

3 5 sensors using the sensors...51 the touch sensor...51 the BumperBot program...52 moving forward...52 detecting an obstacle...53 backing up and turning around...53 challenge challenge testing...54 the color sensor...54 color mode...54 reflected light intensity mode...55 ambient light intensity mode...55 port view...55 challenge the IsItBlue program...56 the switch block...56 improving the program...57 the LineFinder program...58 using port view to find a threshold value...59 challenge challenge the infrared sensor and remote...60 proximity mode...60 beacon heading and beacon proximity mode...60 remote mode...61 the BumperBotWithButtons program...61 challenge the ultrasonic sensor...62 distance inches and distance centimeters modes...62 presence/listen mode...62 the DoorChime program...62 detecting a person...63 playing a chime...63 stopping the chime...63 the gyro sensor...64 rate mode...64 angle mode...65 resetting the angle...65 the GyroTurn program...65 challenge the motor rotation sensor...66 the BumperBot2 program...66 further exploration...68 conclusion...68 contents in detail xiii

4 6 program flow the switch block...69 setting the condition...69 resizing a block...70 the LineFollower program...70 the basic program...70 selecting the color sensor threshold...71 configuring the move blocks...72 testing the program...72 more than two choices...72 challenge testing the program using tabbed view the RedOrBlue program identifying red objects...75 adding a new case...75 challenge the default case the loop block the loop interrupt block...78 the BumperBot3 program...78 further exploration...80 conclusion the WallFollower program: navigating a maze pseudocode...81 solving a maze...82 program requirements...82 assumptions...84 initial design...84 following a straight wall...85 writing the code...85 using the education edition...85 testing...87 turning a corner...87 writing the code...88 testing...88 going through an opening...89 writing the code...90 testing...90 using sound blocks for debugging...91 final test...92 further exploration...92 conclusion...92 xiv contents in detail

5 8 data wires what is a data wire?...93 the GentleStop program...93 writing the program...94 tips for using data wires...95 challenge the SoundMachine program...96 controlling the volume...96 using the math block...97 adding tone control...98 understanding data types...99 displaying the frequency and volume values...99 using the text block adding labels to the displayed values displaying the volume challenge challenge challenge further exploration conclusion data wires and the switch block the switch block s value modes rewriting the GentleStop program passing data into a switch block advantages of using a sensor block passing data out of a switch block simplifying the LineFollower program challenge challenge further exploration conclusion data wires and the loop block logic mode challenge the loop index the LoopIndexTest program restarting a loop the final loop index value the SpiralLineFinder program following a spiral detecting a line while moving in a spiral challenge using the gyro sensor for better turns contents in detail xv

6 further exploration conclusion variables the variable block the RedOrBlueCount program creating and initializing the variables choosing variable names displaying the initial values counting the red objects counting the blue objects managing variables using the project properties page the compare block the LightPointer program defining the variables finding the light source initializing the variables creating the LightPointer program the constant block further exploration challenge challenge conclusion my blocks creating a my block the my blocks palette editing a my block challenge the LogicToText my block adding, removing, and moving parameters the parameter setup tab the DisplayNumber my block my blocks and debugging changing my block parameters variables and my blocks challenge further exploration conclusion math and logic the math block s advanced mode supported operators and functions the modulo operator math block errors xvi contents in detail

7 a proportional LineFollower EV3 timers challenge the DisplayTimer program splitting the timer reading into minutes and seconds building the text to display the round block the random block adding a random turn to BumperBot challenge challenge the logic block adding some logic to BumperBot the range block the TagAlong program the GyroPointer program challenge further exploration conclusion the EV3 lights, buttons, and display the EV3 buttons the PowerSetting program the initial value and the loop displaying the current value adjusting the power value challenge testing the program changing the value faster the brick status light the ColorCopy program challenge the display block displaying an image the Eyes program drawing on the EV3 screen the EV3Sketch program further exploration conclusion arrays overview and terminology creating an array the array operations block length mode read at index mode contents in detail xvii

8 write at index mode append mode the ArrayTest program the ButtonCommand program creating the array of commands challenge displaying the commands executing the commands challenge the ColorCount program the ColorToText my block the AddColorCount my block using a data wire to select a sound file initialization counting colors the MemoryGame program the start of the loop creating the sequence of lights the WaitForButtons my block checking the user s response further exploration conclusion files the file access block setting the filename writing to a file avoiding filename bugs reading from a file saving the MemoryGame high score the FileReader program challenge finding the end of a file adding a menu to the ColorCount program the CreateMenu_CC my block the SelectOption my block the new ColorCount program structure counting objects saving and loading the count data testing managing memory challenge further exploration EV3 text files and windows conclusion xviii contents in detail

9 17 data logging data collection and the EV investigating the current power reading the CurrentPowerTest program the LogData my block the CurrentPowerTest2 program challenge testing the current power with the move steering block the SteeringTest program the VerifyLightPointer program controlling the amount of data challenge further exploration conclusion multitasking more than one start block the stop program block avoiding a busy loop adding lights to the DoorChime program challenge understanding program flow rules starting blocks and data wires using values from a loop or switch block using my blocks synchronizing two sequences keeping out of trouble further exploration conclusion a PID-controlled LineFollower program the PID controller proportional control the raw data the good and bad zones selecting the target collecting the min and max sensor readings normalizing the sensor reading and target values enhancing the proportional control LineFollower color sensor calibrate modes implementing PID control adding the derivative term adding the integral term tuning the controller contents in detail xix

10 further exploration conclusion A NXT and EV3 compatibility motors sensors software B EV3 websites index xx contents in detail