1. Lego Nxt Ball Grabber Demo
2. Lego Mindstorms Ev3 Education Color Sorter Program Download
3. Lego Mindstorms Ev3 Download

Your browser does not support video.The following discussion describes the state machine approach and resulting NXT-G program. The NXT-G program may be downloaded at the end of this article.Developing a State TableThe following diagram schematically represents the sorter tray that catches the balls from the dispenser tray. The arrow represents the chute down which the ball rolls into the sorter tray. The number represents the color ball that each compartment of the sorter tray catches: compartment 2 catches the blue ball, compartment 3 catches the green ball, compartment 4 catches the yellow ball, and compartment 5 catches the red ball. Note that the compartment numbers match the number of each color of ball as returned by the color sensor (see table 1).Table 1 ColorCodeBlue2Green3Yellow4Red5The first step is to determine what the tray must do given its current position, and the ball that is 'on deck' to roll down the chute.

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For example, the tray is currently positioned with compartment 2 (blue) under the chute and the yellow ball (number 4) is on deck in the chute. The tray must make one half (0.50) rotation in the counter-clockwise (or clockwise) direction so that compartment 4 will be correctly positioned to catch the yellow ball. Note that counter-clockwise directions are assigned negative values. This scheme is optimal in terms of minimizing the amount of rotation that the tray must do to catch in the correct compartment the ball currently on deck.

Figure 1.Figure 2 shows the second half of the NXT-G program. There are two case statement structures in the second half of the program. The value of BallColor selects one of four cases according to the value returned previously by the color sensor.

Each case plays a sound which gives an audible indicate of the color of the ball currently on deck. Following the section of code which annunciates the ball color, are three blocks which calculate the value of the formula discussed above. The first block reads the value of CurrentState, the next block adds this value to the value stored in the BallColor variable, and finally the third block adds 3.

The result of this calculation is used to select one of seven cases. Each case has a motor block set to rotate the motor shaft the amount shown in table 3 (see figure 3).

Note that case three involves zero rotation, essential a 'do nothing' case. A display block has been inserted in place of a motor block in this case.Lastly, the value of BallColor variable gets written to CurrentState variable.

The case structure above has rotated the sorter tray compartment so that the compartment number under the dispenser chute is the same as BallColor. Hence the new current state is identically equal to BallColor.

Make a System Discussion. Robotic systems are built from smaller, related subsystems. Look at the automobile system shown in the video. What subsystems can you see?Answers can vary but may include describing the automobile manufacturing system with one subsystem for moving the car into position and multiple robotic subsystems welding components on different parts of the car.

What other systems and subsystems do you see in the video?Answers may vary but may include describing the box-sorting conveyor system that separates boxes of different sizes. This system has two conveyor lines: one for larger boxes and one for smaller boxes.

There is also a more complex sorting system that manages a larger volume of boxes and many more possible locations using multiple sorting arms and conveyors. BrainstormEncourage an active brainstorming process so that students develop their conceptual understanding. For example, encourage them to:.

Review the Robots In Action videos showing robots for inspiration. Investigate Key Concepts Systems and Subsystems. Build some of the examples from Building Ideas and explore how they work. Personalize their robot or describe a context in which a robot sort other objects (e.g., conveyor sorting system in the Logistics video).Building Ideas:. Build and ProgramStart building and programming your solution!As you work on your solution, make sure students keep track of:. Describe one part of your design that worked especially well.

Describe one design change that you had to make. What will you try next?Students can use images, video, text, sound, or weblinks to document their work.Test Set Up and ProcedureMaterials needed: Three cups or other containers to hold the sorted objects, tape to mark locations. Position your robot. Mark the starting position. Next, mark the location to show where the robot should place objects.

Lego Nxt Ball Grabber Demo

Mark the locations for the second and third colors and place a cup over each. Run your program. Repeat at least three times.Instead of using cups, students can use paper and mark three locations, one for each color; however, it may be harder to control the Color Squares if they are dropped by the robot.Depending on the students’ skill level, they can use Cartesian coordinates to indicate the expected and actual coordinates. Review and ReviseTake a moment to reflect on your robot solution. Can the robot movement be made more accurate?.

Lego Mindstorms Ev3 Education Color Sorter Program Download

Lego Mindstorms Ev3 Download

What are some ways that others have solved the problem?Encourage students to look back at the design brief and at their own brainstorming notes and test data. Encourage a peer-review process so that each group is responsible for evaluating their own and others’ projects.

This review process can help students develop skills in giving constructive feedback as well as sharpening analysis skills and the use of objective data to support an argument.You may wish to provide students with the specific precision level to aim for (e.g., within 0.5 cm).