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Robasics

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Cass Everitt

This document provides an introduction to building and programming a simple EV3 robot. It describes starting with a base robot that has two motors and two sensors. The color sensor and gyro sensor are discussed as ways to help the robot navigate and sense its environment. Examples of simple programs are provided to demonstrate using the motors and sensors, including calibrating the color sensor. It is noted that programs may need to be adapted if the robot configuration is changed.

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FLL Robasics getting started with simple EV3 robotics
Robotics the branch of technology that deals with the design, construction, operation, and application of robots
Our Base Robot Assumption: Were all beginners at How Robotics Works (in general) Lego Mindstorm EV3 (specifically) So lets start simple...
Our Base Robot Pretty close to the one given in the instructions that came with the EV3 kit 2 motors (one per wheel) 2 sensors gyro (upper left in this photo) color sensor (will see later)
The undercarriage Note the location of the color sensor This is important o We will learn why later
Base Robot Starting with the same robot we can o share programs, sub-programs o learn the basic concepts We cannot o develop full mission plans
Final Robot Robot will need additions / changes o additional motors for arms, etc o additional sensors Mission plans will dictate o what your robot looks like o consequently, your programs
Getting Started Get the Mindstorm software installed Add the gyro.ev3b block o Not in the Home Edition o But a free download (google it) o tools -> block import Programming model is graphical
Connect your robot Connect via bluetooth if possible once connected, look at the motors and sensors connected
First Program! What does it do?
Right face! What does this do? What is this 0.62 business?
Regular Quadrilateral What about this?
Dead Reckoning We have a block that can control the motors of the wheels in a natural way o turn +/- 100% o power 0-100% o rotations or seconds We can chain these together as long as we like! Great, were done, right? :-) o Nope! We have to deal with the evil of error
Why did this program fail?
Sensors Gyroscope lets us trade 0.62 for something more natural, more robust Gyro tells us the change in angle, which is what we wanted anyway But how do we use it?
Gyro turn around example... 353? on until
Better Regular Quadrilateral
Other sensors Gyro is not perfect o Helps avoid errors though Other sensors help in similar ways Color sensor lets us see landmarks o Stop on color, follow edge We use multiple sensors to manage error...
Simple color sensor program
Calibration The color sensor requires calibration So black reports as 0 And white reports as 100 Otherwise hard to pick good numbers
This is the prog to calibrate color:
Pitfall! Sharing programs is great! But they are hardwired, expecting specific motors on specific {A,B,C,D}. And sensors on specific {1,2,3,4}. Common copy/paste failure.
Original color calibration: Whats wrong?

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Robasics

  • 1. FLL Robasics getting started with simple EV3 robotics
  • 2. Robotics the branch of technology that deals with the design, construction, operation, and application of robots
  • 3. Our Base Robot Assumption: Were all beginners at How Robotics Works (in general) Lego Mindstorm EV3 (specifically) So lets start simple...
  • 4. Our Base Robot Pretty close to the one given in the instructions that came with the EV3 kit 2 motors (one per wheel) 2 sensors gyro (upper left in this photo) color sensor (will see later)
  • 5. The undercarriage Note the location of the color sensor This is important o We will learn why later
  • 6. Base Robot Starting with the same robot we can o share programs, sub-programs o learn the basic concepts We cannot o develop full mission plans
  • 7. Final Robot Robot will need additions / changes o additional motors for arms, etc o additional sensors Mission plans will dictate o what your robot looks like o consequently, your programs
  • 8. Getting Started Get the Mindstorm software installed Add the gyro.ev3b block o Not in the Home Edition o But a free download (google it) o tools -> block import Programming model is graphical
  • 9. Connect your robot Connect via bluetooth if possible once connected, look at the motors and sensors connected
  • 10. First Program! What does it do?
  • 11. Right face! What does this do? What is this 0.62 business?
  • 13. Dead Reckoning We have a block that can control the motors of the wheels in a natural way o turn +/- 100% o power 0-100% o rotations or seconds We can chain these together as long as we like! Great, were done, right? :-) o Nope! We have to deal with the evil of error
  • 14. Why did this program fail?
  • 15. Sensors Gyroscope lets us trade 0.62 for something more natural, more robust Gyro tells us the change in angle, which is what we wanted anyway But how do we use it?
  • 16. Gyro turn around example... 353? on until
  • 18. Other sensors Gyro is not perfect o Helps avoid errors though Other sensors help in similar ways Color sensor lets us see landmarks o Stop on color, follow edge We use multiple sensors to manage error...
  • 20. Calibration The color sensor requires calibration So black reports as 0 And white reports as 100 Otherwise hard to pick good numbers
  • 21. This is the prog to calibrate color:
  • 22. Pitfall! Sharing programs is great! But they are hardwired, expecting specific motors on specific {A,B,C,D}. And sensors on specific {1,2,3,4}. Common copy/paste failure.