Stair Climber

Stair Climber

Hardware

There are two driving motors. One in the front and one in the back. It is 4 wheel drive but it cannot turn. The drive motors are not geared. The third motor is used to control the arm. that is geared down 1:5. The arm lifts up the front wheels, it drives forward to get the front wheels on the next step, then the arm goes back, and lifts up the back wheels and the robot drives forward to get the back wheels on the step.

Program

The program is really simple. The PSP-NX-V3 remote control’s the robot. one joystick turns the drive motors, and the other moves the arm.

Snow Crawler

Snow Crawler

Hardware

This has two main parts (the front and the back) on the front there is the PF battery box, front driving motor, and the steering motor along with PF LED lights. On the back section there is the back driving motor and the NXT. The two parts are connected by one axle, which stays in surprisingly well.

Program

The program was pretty simple. I used ROBOTC again. The program uses the PSP-NX-V3 to control the driving. Right joystick controls the drive motors and the left joystick controls the steering.

You can download the program here (.Zip)(driver is included and has to be in the same folder)

“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)

Tow truck

Tow truck

Hardware

This hasn’t changed much from my testing video since I didn’t get to get the parts that I wanted (like the air tanks) but I’m still happy with the design overall. there is 1 motor to drive, geared 2:1. 1 motor for steering. and one motor for the arm gears 1:5.

Program

the program is what changed the most since last time. for one, I made it so that all the operations (steering, driving, arm movement, etc.) where in separate loops so that if one got stuck (like the steering wheels got stuck, which happened a few times during early testing) then the rest of the operations wouldn’t stop and the driving and other things will still be controllable. the only problem with this is that this is almost too much for the NXT to handle so the response was not as fast at I would have liked, but the improvement that I liked the most with the up and down arrows for the arm. up reset it at the top. and down put it at the right height for picking up/dropping off the car, which made using the arm very easy.

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Google plus page: bit.ly/mindpodplus

Thanks to musikConomy for intro/outro music

You can download the video for iPod/iPhone and subscribe on iTunes

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

Crane

Crane

This is the final version of the crane. as you can see the base was well improved from the last one, the turntable stays securely connected to the base, the worm gear slips less, it doesn’t tip over as much and when it does it doesn’t break as much. I also made a spot to  hold the weight.

Program:

Nothing special about this program really but you can download it here.

Hardware

Base:

The base was the hardest part to design because of how string it had to be, because it had to hold the weight of everything without tipping or breaking under the leverage. There is a 2 pound weight at the back to help ballance.

Crane arm:

The crane arm is moved by 1 motor geared down 1:5 and it is pretty strong, It can lift the whole Lego building in the video when the batteries are fresh (but they were dying in the video) The string it pulled by the pulley on the motor opposite the arm motor.

This robot will be on NXT Log soon.

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

Fan Stand Final

Fan Stand Final

I finally got a video of a working fan stand

The up and down is geared 1:5 with two motors power it. The turning motor it not geared.

D-Pad control

This program lets me control the robot using the D-pad. Left and right to turn the fan and up and down to move the whole thing up and down.

Analog control

This program lets you control the robot using the analog stick which make’s variable speed possible. left and right to turn the fan and up and down to move the whole thing up and down

Automatic

This acts like an oscillating fan. It resets everything to about the center and then you set the up and down positioned using the D-Pad and then it automatically has the fan go left to right. My only problem with this is that it went to fast. I could not make it go any slower because putting any less power just had the motor not move or stop halfway. I had the power on 10%

iPod video

Thanks to musikConomy for intro music

“Smart” Car

“Smart” Car

This is my entry into the NXT Car Building Challenge!
Steering
The steering mechanism is based of the “racecar” off of NXT programs. There is also an ultrasonic sensor on it (as you can see to the left). The ultrasonic sensor is always facing the direction of where it is going making it more useful in programming than just having one that faces straight.
Drive wheels
The back drive wheels are geared 3:1 so on smooth ground it works great but on rough ground and carpet it does not work so well. You can also gear it 1:1 (with gears not included in NXT 2.0) and 1:3 (by switching the gears).
Program
The Program is for use with the PSP-Nx-v3 from mindsensors. It is remote-controlled using a joystick. the ultrasonic is used to slow the robot down whenever it is driving forward towards an object. That way it is easier to avoid objects. The color sensor is red when it is close to something and green when it is far away from something.

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video: iPod

Thanks to musikConomy for intro/exit music