Ackermann Steering Geometry Building Instructions

Ackermann Steering Geometry Building Instructions

Simple example of Ackermann Steering Geometry with an NXT motor. This is used on my next robot, a half tracked vehicle (coming as soon as I get my camera back).

You can download the instructions here.

You can download the MLCAD files here.

Rocket Launcher

Rocket Launcher

Hardware

This uses 3 motors and 2 sensors. On the controller it uses the Touch sensor as the trigger button and the color sensor as an indicating light. There is also a motor on the controller that controls the angle of the launcher. It s linked with the motor that moves the launcher up and down. The third motor moves a 5m beam up and down. When the beam is up it holds the rocket back, and when you press the touch sensor, the beam is pulled down and the rocket is released. The rocket is down a ramp by a rubber band and then fly’s of the ramp.

Program

The program is pretty simple. First you pull the rocket back with the rubber band than turn the black knob to move the beam up – as soon as the beam is about halfway up the motor begins to turn to make sure its all the way up then lock. you can then use the motor on the controller to move the launcher up and down. then you press the orange button and the launcher locks its position and waits for you to press the touch sensor – when you press the touch sensor the rocket is released and the program starts over again.

You can download the program here.

Building Instructions

BOM
You can download the Building instructions here(PDF).

You can download the LDraw files here(Zip).

“Smart” Car 2.0

“Smart” Car 2.0

This is the second model of my “Smart” Cars and this is much better than the first. This is also my entry into The Mindstorms Annual Online Competition under the Car category.

Hardware

This car has 1 motor for driving, 1 motor for steering, and 1 motor for the ultrasonic sensor. The driving motor was geared 20:10:20 (so in the end – 1:1). the steering motor was geared 8:40 (1:5) for greater control in the steering, This did lower the speed at which it turned but it made it much more accurate and easier for parallel parking. The motor for the ultrasonic sensor was just holding the sensor with no gears, it was used many different was in different the programs.

Programs

(all programs require the HiTechnic Motor PID Block)

Parallel Park

In this program, the robot would find a parking spot and then parallel park. It put the ultrasonic sensor at a 90 degree angle with the car facing the wall, and it would drive straight. when it saw an open spot it would count the rotations of the driving motor till the end of the spot, if the motor rotated far enough  then it knew that the spot was big enough, if the spot wasn’t big enough, then it would keep driving. Then, once it had parked, it would wait for the orange button to be pressed and then pull out of the spot on its own.

You can download the program here.

Autonomous driving

This program would have the robot drive until it saw something (or the touch sensor got pressed), then back up, turn the heard to the left and the right, see which has more distance, then drive that way (if there was more than 20in of distance, if not it would back up and do it again)

You can download the program here.

Assisted drive

This program is remote controlled using the PSP-NX-v3. It is a normal remote control program using 1 joystick (up and down for forward and backwards and left and right for steering) but with one twist, when the ultrasonic sees something  it slows the drive motor down to half of normal to allow for greater control. the ultrasonic turns left and right with the steering so that it’s looking where the car is going. This was used in the last Smart Car also but there are a few improvements over that one, when going backwards the speed is not decreased, and when you click R1, it parallel parks.

You can download the program here.

Building instructions

Full building instructions can be downloaded here (PDF)

You can download the MLCad files here(.zip)

“Smart” car update

“Smart” car update

Working on building instructions for the ‘Smart’ car 2.0, I’m mostly done with everything besides on thing, line following, i’m trying to get it to work but having trouble. But it can parallel park on it’s own, drive autonomously, and like the last ‘Smart’ car, help control while remote controlling – but it can do that better than the last one. So all around, just great improvements on the last ‘Smart’ car. For more info on what i’m trying to do with the line following, go here.

Time lapse

Time lapse

This robot holds a camera and moves it up, down, left, right.

It has 2 motors to move it up and down, they move a beam with wheels up and down with a 1:5 gear ratio. the turntable turns the camera with a 1:56 gear ratio using a worm gear. I manly used this for time lapses because it can turn very slow and controlled because of the worm gear.

Programs

Time lapse

This program turns the turning motor a few degrees every 1 second. This was designed to work with the program on my computer to take a time lapse. I plug my camera into a video adapter in my computer (with a long wire through the back yard) and then use tilaphos to take a picture every second. The first two videos in the podcast used that program, the first one is played back at 210 FPS and the second at 150 FPS. The third time lapse was taking with an iPhone at 1 picture every 15 seconds using Gorillacam and played back at 30 FPS.

You can download the program here.

Remote control

This program was used to remote control the robot with my PSP-Nx-V3. It uses the right joystick to move it up, down, left right.

You can download the program here.

Instructions

You can download instructions here (PDF).

You can download the MLcad files here (.zip).

Facebook page: facebook.com/mindstormspodcast

Google plus page: bit.ly/mindpodplus

Thanks to musikConomy for intro/outro music

You can download and subscribe to me on iTunes

You can also download an iPod/iPhone version here

Forklift final version

Forklift final version

So the forklift worked pretty well, since the last testing video I made a few physical changes but I mostly made programming changes. The other change is the instructions for NXT 2.0.

Programs

Forklift programs for NXT 2.0

These programs are made for the forklift when using the building instructions. In each program it limits the top and bottom so that you can’t break anything.

You can download them here (in .zip format)

Forklift programs for modified forklift

These programs are made for the forklift but with 40 and 8 tooth gears as shown in the video instead of the 36 and 12 double bevel tooth gears giving a 1:5 ratio instead of 1:3 and it skips less than the double bevel gears.

You can download them here (in .zip format)

In each zip there are 3 programs, both sets of programs are similar but have different limits the modified ones have an m in the front of the file name

2 button forklift control

For use with using 2 touch sensors (plugged into ports 1 and 2). the touch sensors are used for driving and then you press the enter button to change the direction, the right arrow for moving the forklift up and the left arrow to move the forklift down

Fork control

This requires the PSP-NX-v3 (plugged into port 1). This uses the right joystick for speed and direction (up and down) and the left joystick for turning (left and right) I prefer this way as opposed to using one joystick for both (like in the next program down) because it is easier to go perfectly straight and it is also easier to control turns (once you get the hang of it). It also uses R1 to move the forklift up and L1 to move the forklift down. Select resets the forklift at 0 and then ends the program.

Fork control single joystick

This requires the PSP-NX-v3 (plugged into port 1). This uses the right joystick for moving the robot and the left joystick for moving the forklift, one of the nice things about this program compared to the other programs is that you can control the speed of the forklift moving up and down as opposed to the other ones where the speed is fixed. Select resets the forklift at 0 and then ends the program.

Instructions

Instructions were made using the LDraw suit and is similar to the last instructions I made.

You can download the PDF here

you can download the MLCad files here.

Thanks to musikConomy for intro/outro music