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As with most any LEGO assortment you buy, the LEGO Mindstorms RIS comes with a booklet of suggested project plans, but you re free to design most anything you want. And because you can use standard LEGO parts, you can cannibalize other kits to extend your Mindstorms creations. Figure 13.2 shows the PathFinder 1, the basic Mindstorms robot built with the RIS. Using two motors and two wheels, the robot vehicle is able to move
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ROBOTIC SENSORS 165
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FIGURE 13.2 The basic rover robot is equipped with two drive motors and a light sensor.
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forward and back, and it can turn in place that is, it has no turning radius like a car; it can just spin to turn. While building the PathFinder is fun in itself, the real enjoyment and challenge comes in programming the thing. Pop the Mindstorms CD-ROM into your computer, and you can design your own programs to control the RCX. The Mindstorms CD-ROM comes with a programming tutorial, but the whole technique is so simple and straightforward that even nonprogrammers will easily master the basics. To program the RCX you merely click and drag predefined program blocks, connecting them on the screen like links of a chain. You can move the blocks around and add additional blocks in between. And, of course, you are not limited to building just the standard two-wheel roving robot. With just the parts included in the Mindstorms RIS kit you can construct a simple robot arm, or even a walking robot. The RCX has three motor output ports; you can add a third motor (available separately) to create more complex robot creations.
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Robotic Sensors
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One light and two touch sensors are included in the Mindstorms RIS box. These allow the RCX to interact with its environment (without the sensors, all you really have is an
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166 CREATING FUNCTIONOIDS WITH LEGO MINDSTORMS ROBOTICS INVENTION SYSTEM
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expensive R/C toy). You get two touch sensors they re really miniature spring-loaded momentary switches enclosed in a LEGO block and a light emitter/detector pair that can control the action of a motor when a change of light occurs. Additional sensor types are available, and we will discuss them in the following section.
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You control the sensors of the RCX using the graphical Mindstorms programming environment. The programming environment treats the input sensors as events : when a sensor event occurs, the RCX can be programmed to take some action. For example, suppose you ve created the basic two-wheeled Pathfinder 1 roverbot. Your program starts by activating both motors so the robot travels in a forward direction. A touch sensor is attached to the front of the RCX. If the sensor is activated when the RCX strikes an object your program can reverse the motors so the robot travels in the opposite direction. Similarly, a touch sensor mounted on the back of the RCX can be programmed to make the robot travel forward again. In a crowded room, the RCX would likely ping-pong back and forth between objects fun for a while, but Mindstorms can do more. You can program your robot with time delays to create sophisticated movements. For instance, instead of just reversing both motors when a touch sensor is activated, you might activate just one motor for a brief moment. You can then command both the motors to turn on again in the forward direction. This would have the effect of turning the robot by an arbitrary amount, so that its travel around a room is less predictable.
USING THE LIGHT AND TOUCH SENSORS
The light sensor can be used to enable your robot to detect the presence or absence of light. It is a fun gadget to use when constructing a flashlight-controlled robot. With such a robot, the RCX can be commanded to stop, turn, or reverse direction when a flashlight is directed at the sensor. The sensor includes its own light source, so you can also use it to construct a line tracing robot. The Mindstorms RIS kit comes with a large white pad with a black line that you can use as a course or track for the RCX to follow. You can draw your own line-following track on any light-colored surface.
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