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Index
The LEGO® MINDSTORMS® EV3 Discovery Book: a beginner’s guide to building and programming robots about the author about the technical reviewer acknowledgments introduction
why this book? is this book for you? how does this book work?
the discoveries
estimating difficulty and time finding solutions
what to expect in each chapter
part I: getting started part II: programming robots with sensors part III: robot building techniques part IV: vehicle and animal robots part V: creating advanced programs part VI: machine and humanoid robots
the companion website
conclusion
I. getting started
1. preparing your EV3 set
what’s in the box?
the EV3 brick sorting Technic elements the mission pad
controlling your robot downloading and installing the EV3 programming software conclusion
2. building your first robot
using the building instructions building the EXPLOR3R output ports, input ports, and cables navigating the EV3 brick
turning the EV3 on and off selecting and running programs
making your robot move with the remote control conclusion
3. creating and modifying programs
a quick first program creating a basic program
1. programming palette 2. start block 3. programming canvas 4. hardware page
downloading and running a program manually running a program downloading a program without running it running selected blocks
projects and programs
5. file organization
saving projects and programs renaming projects and programs finding projects and programs on the EV3 brick modifying project properties
6. toolbar
using select, pan, and zoom tools using the comment tool duplicating one or more blocks help documentation
7. content editor
building the official EV3 robots and bonus models conclusion
4. working with programming blocks: action blocks
how do programming blocks work? the move steering block
the move steering block in action understanding modes and settings
ports steering power rotations, seconds, or degrees brake at end
making accurate turns
the sound block
understanding the sound block settings
file name volume play type note or tone duration
seeing the sound block in action
understanding the SoundCheck program
the display block
understanding the display block settings
sub modes file name clear screen radius and fill color text and font size x, y, column, and row
the display block in action
understanding the DisplayTest program
the brick status light block the on and off modes in move blocks move tank, large motor, and medium motor blocks further exploration
5. waiting, repeating, my blocks, and multitasking
the wait block
using the wait block settings seeing the wait block in action understanding the WaitDisplay program
the loop block
using the loop block seeing the loop block in action using loop blocks within loop blocks
making your own blocks: the my block
creating my blocks using my blocks in programs editing my blocks managing my blocks in projects
multitasking
using multiple start blocks splitting the sequence wire avoiding resource conflicts
further exploration
II. programming robots with sensors
6. understanding sensors
what are sensors?
understanding the sensors in the EV3 set understanding the touch sensor creating the bumper with the touch sensor viewing sensor values
programming with sensors
sensors and the wait block
sensors and the wait block in action avoiding obstacles with the touch sensor using change mode
sensors and the loop block sensors and the switch block
configuring a switch block sensors and the switch block in action adding blocks to a switch block using flat view and tabbed view repeating switches
understanding compare, change, and measure mode
compare mode change mode measure mode configuring the modes
further exploration
7. using the color sensor
attaching the color sensor color mode
staying inside a colored line
creating the test track creating the program
following a line the switch block in measure mode
reflected light intensity mode
setting the threshold value comparing sensor values with a threshold following a line more smoothly
ambient light intensity mode
measuring ambient light intensity a morse code program
further exploration
8. using the infrared sensor
proximity mode
avoiding obstacles combining sensors
remote mode beacon proximity mode beacon heading mode combining sensor operation modes further exploration
9. using the brick buttons and rotation sensors
using the brick buttons using the rotation sensor
motor position resetting the motor position rotational speed
calculating the rotational speed measuring rotational speed in a program
understanding speed regulation
seeing speed regulation in action stopping a stalled motor
further exploration
III. robot-building techniques
10. building with beams, axles, connector blocks, and motors
using beams and frames
extending beams using frames using beams to reinforce structures using angled beams
using the LEGO unit grid using axles and cross holes using connector blocks
extending axles connecting parallel beams connecting beams at right angles securing parallel beams using half LEGO units using thin elements
creating flexible structures building with motors and sensors
building with the large motor
connecting wheels and treads connecting beams to the motor shaft
building with the medium motor building with sensors
miscellaneous elements further exploration
11. building with gears
gearing essentials
taking a closer look at gears calculating the gear ratio for two gears
calculating output speed calculating the required gear ratio
decreasing and increasing rotational speed what is torque?
when do you increase torque? decreasing torque
creating longer gear trains
calculating the compound gear ratio further increasing torque and decreasing speed balancing speed and torque
friction and backlash
using the gears in the EV3 set
working with the unit grid
gears and half units gear trains around a corner using improper combinations
using bevel and double-bevel gears
perpendicular connections on the unit grid connecting perpendicular axles
using knob wheels using worm gears
constructing sturdy gear trains
bracing gears with beams preventing axles from twisting reversing direction of rotation
building with gears and EV3 motors further exploration
IV. vehicle and animal robots
12. Formula EV3: a racing robot
building the Formula EV3 Race Car driving and steering
creating my blocks for steering
my block #1: reset my block #2: left my block #3: right my block #4: center
testing the my blocks
creating a remote control program racing autonomously further exploration
13. ANTY: the robotic ant
understanding the walking mechanism building ANTY making ANTY walk
creating the opposite my block avoiding obstacles
programming behavior
finding food sensing the environment
no color: sitting still green: safety yellow: food blue: predators red: aggression
further exploration
V. creating advanced programs
14. using data wires
building SK3TCHBOT getting started with data wires working with data wires
seeing the value in a data wire deleting a data wire data wires across a program using multiple data wires repeating blocks with data wires
data wire types
numeric data wire logic data wire text data wire numeric array and logic array type conversion
converting logic values to numeric values displaying numbers on the EV3 screen
using sensor blocks
measure mode compare mode
compare mode and beacon values compare mode and the touch sensor
data wire value range
advanced features of flow blocks
data wires and the wait block data wires and the loop block
using the loop index ending a loop in logic mode
data wires and the switch block
logic mode numeric mode connecting data wires to blocks inside switch blocks
the loop interrupt block
breaking a loop from the inside breaking a loop from the outside
further exploration
15. using data operations blocks and my blocks with data wires
using data operations blocks
the math block
the math block in action using advanced mode practicing with the math block
the random block the compare block the logic operations block
logic operations not mode
the range block the round block the text block
creating my blocks with data wires
a my block with input editing my blocks a my block with output a my block with input and output strategies for making my blocks starting points for my blocks sharing my blocks between projects
further exploration
16. using constants and variables
using constants using variables
defining a variable using the variable block
defining variables with the variable block creating a program with a variable
changing and incrementing variable values initializing variables calculating an average
further exploration
17. playing games on the EV3
step 1: creating basic drawings
my block #1: clear my block #2: coordinates completing the basic program
step 2: adding pencil controls
moving the pencil without drawing turning the pencil into an eraser clearing the screen setting the pencil size
further exploration
VI. machine and humanoid robots
18. the SNATCH3R: the autonomous robotic arm
understanding the grabber
the grabber mechanism the lifting mechanism
building the SNATCH3R controlling the grabber
my block #1: grab my block #2: reset my block #3: release creating the remote control program troubleshooting the grabber
searching for the IR beacon
building the IR bug my block #4: search
understanding the sensor measurements understanding the search algorithm creating and testing the search my block
creating the final program
finding the beacon driving toward the beacon lifting and moving the IR bug
further exploration
19. LAVA R3X: the humanoid that walks and talks
building the legs making the robot walk
my block #1: reset my block #2: return my block #3: onsync my block #4: left taking the first steps
building the head and arms controlling the head and arms
my block #5: head avoiding obstacles and responding to handshakes
resetting the legs and making the head move walking until one of two sensors is triggered responding to the triggered sensor
further exploration
A. troubleshooting programs, the EV3 brick, and wireless connections
troubleshooting compilation errors
missing my blocks errors in programming blocks missing variable definitions
troubleshooting a running program troubleshooting the EV3
using the hardware page
managing connections managing the EV3’s memory
solving problems with the USB connection restarting the EV3 brick updating the EV3 firmware avoiding data loss using a microSD card
programming the EV3 wirelessly
using Bluetooth to download programs to the EV3
finding a Bluetooth dongle connecting to the EV3 with Bluetooth
using Wi-Fi to download programs to the EV3 choosing between Bluetooth and Wi-Fi
summary
B. creating on brick programs
creating, saving, and running an on brick program
adding blocks to the loop
replacing a block deleting a block
configuring a block’s setting running a program saving and opening a program
using the on brick programming blocks importing on brick programs summary
C. Index About the Author Copyright
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