[PDF] Advanced Programming Lego Mindstorm EV3

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‡ Show Teacher͗

Program 1 - Fire Room ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Program 2 - Rescue Room ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Program 3 - Walled Room ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Program 4 - Clear Room ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Final 4 Program ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ‡ Document programs 1 through 4 and the Įnal four programs on separate slides. Include program, detailed comments on program 1

Adǀanced Programming

Lego Mindstorm EV3

Name (Įrst Θ last) ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ

Team Name ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ

Table Number ͺͺͺͺͺͺͺͺͺͺͺ Period number ͺͺͺͺͺͺͺͺͺͺͺ 2 (93- 7MVN $VVLJQPHQP

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59

2. Which of the following is not an important element in a good

Engineering Process͍

Researching the problem

Planning the deǀelopment

Commercializing the product

‡ Do͗ Final Challenge - Search and Rescue

In this Challenge, you

will use eǀerything youΖǀe learned to create a rescue robot that will enter a 4- room building. The robot must perform 4 will be randomized in order to simulate a hazardous area where you can neǀer know what will be encountered. The robot must complete all 4 rooms, and return 58

‡ Watch͗ Resources 3͗ Project Planning

1. What main topic does this ǀideo address͍

How to build a car out of LEGO bricks

How to write the most eĸcient program code

How a robot ΗthinksΗ about its surroundings

How to coordinate a team of people working together on the same problem Edžplain the importance of the problem being solǀed Align team membersΖ ideas of what is being built

Distribute the work eǀenly among team members

Keep track of the days that people haǀe shown up to work on the robot Assigning clear responsibility for each part to a speciĮc team member worked on

First and third answer, but not the second

‡ Watch͗ Resources 4͗ Engineering Process

1. What main topic does this ǀideo address͍

How to coordinate a team of people working together on the same problem

What engineering is, and how it works

Types of terrain that are most suitable for robot use 3

NOTES͗

4

Lego Mindstorm EV3

1. What are some of the challenges a self-driǀing car must oǀercome͍

Following the road

Obeying traĸc laws and signals

Aǀoiding other ǀehicles

All of the aboǀe

2. What will the robot need to detect with the Color Sensor͍

The speed of the robot

Distance from the ǀehicle in front of the robot

Width of the road

Color of a traĸc light

‡ Watch Color 3 ͗ Wait for Green

1. What does this program do͍

Wait for the Color Sensor to see a Red object, then moǀe forward Wait for the Color Sensor to see a Green object, then moǀe forward 57

Lego Mindstorm EV3

‡ Watch͗ Resources 1͗ Flowcharts

1. What is a Flowchart͍

decisions A series of pipes and wires that illustrate electricity Ňow

The oǀerall map of a programΖs progress

The document that tracks the number of weeks leŌ in the project cycle

2. Why are Flowcharts important͍

They help programmers ǀisualize the decision-making process on the robot the robot to think The Ňowchart calculates the trajectory of the rejected plants. problem͍ Solǀe all the parts separately, then combine them in one step repeat Build almost eǀerything at once, then try to get the last part to Įt 56

NOTES͗

5 will the Wait Block do͍

Wait for ANY of the colors to be seen

Wait for ALL of the colors to be seen at least once each Wait for ALL of the colors to be seen in the order indicated by thenumbers The EV3 Color Sensor can detect 7 diīerent colors, plus the absence of color. Each of these 8 colors is labeled with a diīerent number.

‡ Do Try it͊ 1͗ No Color

What does the No Color ΗcolorΗ mean in the Set of Colors menu͍ sure you unselect all the other colors. Place ǀarious objects in front of the Color Sensor, and run the program. What triggers the Wait For No Color Block͍ Try it͊ ‡ Do Try it͊ 2͗ Port View͗ Color Sensor Values You can see the Number ǀalue of the currently detected color directly on the EV3Ζs ǀiew screen, in the Port View Mode. on the EV3 to naǀigate to the EV3

Apps menu (), and press the Enter

6 of the screen represent the 8 ports on the EV3. displayed across the top. - Sensor Values are displayed across plugged in. that the Color SensorΖs Port View block is selected.

ΗCOL-RELECTΗ means the sensor is

reading amount of colored light being reŇected. This is not what we want, since we want to see edžactly what color the sensor is seeing, not the amount of color. while the Color SensorΖs Port View block is selected. select the type of reading ΖCOL-COLORΖ, reading type.

4. Now the Color SensorΖs Port View

will display the color ǀalue. (ΖCOL-

COLORΖ)

55

NOTES͗

54
‡ Watch Θ Do͗ Switch-Loops 6͗ Obstacle Orchard Challenge ‡ Show Teacher ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ‡ Document with program snapshot , detailed comments and pictures͗

‡ Obstacle Orchard Challenge

7

1. Point the Color Sensor directly at the Red side of the Color Crate.

What ǀalue do you see͍

2. What ǀalue should you see if the Color Sensor is pointed at the Blue

side of the Color Crate͍

3. Point the Color Sensor away from the Color Crate and any strong

lights. What reading does it giǀe͍

‡ Do Mini Challenge 1͗ Railroad Crossing

Instead of red and green lights, some

traĸc signals simply use signs that raise and lower in the path of traĸc.

Program your robot so that instead of

red stop sign to be taken away. ‡ Watch Did you know͍ How the Color Sensor Works 8

1. What does this program do when run͍

Moǀe forward when the robot sees a red object

Moǀe backward when the robot sees a red object

Moǀe faster when the robot sees a red object

‡ Do Mini Challenge 1͗ Froward To Stop Line paǀement markings, like this stop line telling where to stop.

‡ Color 5 ͗ Color Sensor Reǀiew

The program shown below is sample code for making your robot wait program blocks work and how the robot responds. 53

‡ Program Reǀiew͗ Switch-Loops 5

how it will work. how it will work. 52
How do repeated decisions allow the robot to watch both sensors at once͍ readings of any sensor changes The robot calculates the path with both sensors at Įrst and runs algorithms for the best way to run the course course running In the Įnal ǀersion of the program, the robot ends up processing the

Switch inside the Loop...

Only once, eǀer, because itΖs a Switch

‡ Show Teacher ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ 9 The program shown below is sample code for the Railroad Crossing mini- work and how the robot responds. the robot responds. 10

‡ Watch Color 6͗ Traĸc Signal Challenge

In this challenge, you will program your EV3 robot to through three signal, which can be either the colored block or the redͬgreen card, is the Color Sensor is short, so you will need to modify its placement on the robot so that it can see the traĸc signal and react appropriately. The robot does not need to stop on its own aŌer passing through all Sensor (including a diagram and tedžt edžplaining your programs).

‡ Forward To Yellow Line

‡ Forward To Black Line

‡ Traĸc Signal Challenge

51
The Wait Blocks preǀents the Ňow from reaching the end of the loop The program ends immediately when it detects an object, regardless of the Loop

The Loop makes the robot go backwards

the program you will learn nedžt will inǀolǀe͗

Rapid checking of sensors

A new type of Loop Block

moǀement, the ǀideo suggests thinking about it as... checking 50

Lego Mindstorm EV3

Decisions͗ Switch-Loops 1-5 Θ C

What is the diīerence between this ǀersion of the Orchard Challenge and the original ǀersion in the Turning Chapter͍

There are more trees

There will be randomly placed obstacles in the robotΖs path

There is no diīerence

‡ Do͗ Switch-Loops 2͗ Robot ConĮg. (Ultrasonic Sensor) The program detects an object and stops before moǀing all four order to run All of the aboǀe are ǀalid reasons on why the program doesnΖt work 11 (QJLQHHULQJ FOMOOHQJH 1

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12

Lego Mindstorm EV3

1. Why is it important to be able to driǀe through an orchard͍

To perform specialized tasks to diīerent types of crops.

All of the aboǀe.

2. What is the adǀantage of the Autonomous Tractor oǀer a human

driǀer͍ driǀing through the orchard oǀer and oǀer. Reduces edžposing human to hazard areas while performing Autonomous Tractor can traǀel through an area where a human driǀer may get lost.

There is no big adǀantage.

you complete this challenge͍

How a robot moǀes straight.

How a robot moǀe back and forth.

How a robot turns, and diīerent types of turns.

All of the aboǀe.

49
Edžplain, in detail, what the aboǀe program shown will do. ‡ Watch͗ Switches 6͗ Strawberry Plant Challenge ‡ Build͗ Switches 6͗ Robot Plant Sorter ‡ Do͗ Switches 6͗ Strawberry Plant Challenge ‡ Show Teacher ͺͺͺͺͺͺͺͺͺͺͺͺͺ ‡Document with program, comments and pictures͗

‡ Moǀe If Clear

‡ Color Sensor Compare

‡ Maze Runner

‡ Strawberry Plant Challenge

48
Edžplain, in detail, what the switch block shown will do. 13 ‡ Turning 2͗ Robot ConĮg (build EV3 driǀing base)

Moǀe straight forward

Spin to the robotΖs right without moǀing forward at all Spin to the robotΖs leŌ without moǀing forward at all

Spin for 360 degrees

‡ Do Mini Challenge 1͗ 90 Degree Turn

‡ Obserǀed by teacher ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Moǀing the Steering slider all the way to the right makes the robot turn to the right, in place. What happens if you moǀe it all the way to the leŌ͍ pointer on the robotΖs right wheel.

3. How much did the robotΖs wheel turn during this moǀement͍

1 degree

One lap around the table

14 controls͍

‡ Watch Turning 4͗ Other Turns

1. In the moǀement you programmed, the leŌ motor was told to moǀe

forward at 50й power, and the right motor was told to...

Moǀe forward at 50й power

Moǀe backwards at 50й

Stay in place

Spin freely

2. What kind of turn did the robot produce with one motor running and

one motor stopped͍

Goes straight

Turns in place

Turns ΗwideΗ

Backs up

Program your robot to run out to an obstacle, go around it, then come back. Use a small object as an obstacle, and program your robot to the start line. 47
Edžplain, in detail, what the switch block shown will do. 46
‡ Do Mini Challenge 1͗ Smarter decisions challenge ‡ Show Teacher ͺͺͺͺͺͺͺͺͺͺͺͺͺ Edžplain, in detail, what the switch block shown will do. 15

‡ Dizzy Drill Obserǀed by teacher ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ

motor speeds. Try each of the following to see what you get͊

What happens͍

What happens͍

What happens͍

What happens͍

16

What happens͍

Turning 5͗ Turning Reǀiew

What is the programming blocks name͍

How does the tribot behaǀe with this program͍ How does the tribot behaǀe with this program͍ 45
‡ Do͗ Mini Challenge 1͗ Color Sensor Compare Switch ‡ Show Teacher͗ Mini Challenge 1͗ Color Sensor Compare Switch ‡ Do͗ Mini Challenge 2͗ Color Name Reader (Create a program that will say the name of the detected color ((white, blue, red, yellow, Θ black out loud, by playing the sound for that color word) ‡ Show Teacher͗ Mini Challenge 2͗ Color Name Reader ‡ Watch Θ Do͗ Switches 4͗ Looped Decision What happens when you place a Switch inside a Loop͍ The robot makes a decision once, then repeats the result many

You cannot place a Switch inside a Loop

Both the Switch and Loop operate normally, but the arrangement is useful The soŌware interprets the SwitchнLoop structure as a special construct

‡ Do Try It͊ 1͗ Maze Runner

What happens͍

44

Lego Mindstorm EV3

Write ǀery long programs

Repeat behaǀiors within a program

‡ Do͗ Switches 2͗ Robot ConĮg (Ultrasonic Sensor) ‡ Watch Θ Do͗ Switches 3͗ Moǀe If Clear

The robot will moǀe forward...

if there is no object in front of the Ultrasonic Sensor when the program starts if there is an object in front of the Ultrasonic Sensor when the program starts The robot makes its decision about whether to moǀe forward or turn...

Once, when the Switch is reached in the program

Once, when the Switch sees an object

17 How does the tribot behaǀe with this program͍

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READ On NyT Video Trainer 2.0 -х Behaǀiors -х Turning -х 12, follow the points. - Program your robot to traǀel from bodž 1 to bodž 2 and BACK to bodž 1 in the parts from your kit may be used. Total͗ ͺͺͺͺͺͺͺͺͺ ͬ 25 18

Lego Mindstorm EV3

1. Why are sensors important to robots͍

They allow robots to repeat similar tasks

All of the aboǀe

Commands͍

The robot can remember hazard areas

The robot can react to its enǀironment

There is no big adǀantage

‡ Touch 2͗ ConĮgure Robot with Touch Sensor

‡ Watch Touch 3͗ Wait for Touch

1. What does the robot do when the WaitTouch program runs͍

2. The program waits BEFORE it moǀes because...

The Wait Block comes Įrst in the program

The Wait Block always takes priority oǀer Moǀe Blocks 43
‡ Watch Did you know͍ How the Gyro Sensor Works

‡ Gyro 5 ͗ Gyro Sensor Reǀiew

how the robot will react.

‡ Gyro 6 ͗ Mower Challenge

‡ Watch Challenge Reǀiew

(including a diagram and tedžt edžplaining your programs).

‡ Gyro Sensor (with Scoop) Mower Challenge

42
only reduces its eīects only reduces its eīects

‡ Do Try It͊ Try it͊ 1 LeŌ Turns

Does the same Wait for Gyro block work for leŌ turns͍ Try changing your program to turn 90 degrees to the leŌ instead.

What happens͍

using the Gyro Sensor to control all of its turns. 19

‡ Do Try it͊ 1͗ Already Pressed

when you start running the program͍ can be used as Touch Sensors͊

Try changing the Mode of the Wait Block to͗

What happens͍

‡ Did you know͍ How the Touch Sensor Works

When the Touch Sensor is pressed, it ͺͺͺͺͺͺͺͺͺͺͺ an ͺͺͺͺͺͺͺͺͺͺͺͺ

circuit, allowing current to Ňow.

If the Touch Sensor is released, the ͺͺͺͺͺͺͺͺͺͺͺͺ is ͺͺͺͺͺͺͺͺͺͺͺͺͺ

and no ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Ňows. The Ňow (or lack) of current is detected by the EV3, allowing it to determine the Touch Sensor is pressed. 20

1. What does a Moǀe command do when its Mode is set to ͞On"͍

Turn the motors on

Combines with the nedžt block to make a special command

2. What does a Moǀe command do when its Mode is set to ͞Oī"͍

Turn the motors oī

Waits for the Touch Sensor to be pressed

Wait for the Touch Sensor to be pressed, then turn the motors oī

End the program

The Wait - Touch block can wait for the sensor to be ΗReleasedΗ as well as ΗPressedΗ. What happens if you set the Wait - Touch block to ΗReleasedΗ and run it with an empty bodž holding down the sensor͍ ‡ Do Mini Challenge 1͗ Vacuum ‡ Teacher Sign-Oī Program the robot to touch all four walls of a room, using its Touch

Sensor to know when it has reached each one.

‡ Touch 5͗ Touch Sensor Reǀiew

run. 41

‡ Watch Gyro 3 ͗ Turn for Angle (Part 1)

measures͗

The amount the robotΖs body turns

The amount the robotΖs wheels turn

When an oscilloscope is nearby

2. When the robot actually ran, what happened͍

The robot turned its body edžactly 90 degrees

The robot turned its body slightly more than 90 degrees

The robot moǀed forward 90 degrees

The robot spun in place foreǀer

‡ Watch Gyro 4 ͗ Turn for Angle (Part 2)

1. Which of the following factors contributes to the ΗoǀerturningΗ

problem͍

Delay in sensing and signal transmission

Physical momentum

All of the aboǀe

2. Which of the following workarounds can help to reduce the

ΗoǀerturningΗ problem͍

Replace the Gyro sensor

you actually want

Use a diīerent numbered port

40

Lego Mindstorm EV3

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