MINDSTORMS) O U EELiter (aac The Constructopedia™ is a building guide for the Robotics Inv 5 ETA ee yen aie ob pera ele elit Mes ene Saree N ea os Pe Taga) yi Ut aN a ’ and start buildin e Constructopedia, or Pats ele, You program yout robot with RCX Code (included in the software). RCX Code determines how your robot reacts to its environment. ce Ee r es ia BR Tc a eM Grey tarde: ar McC aa os CIC Cu Cates ie Nd ERR os : on oC) NA ~ With LEGO ren sae se eX 2 om e Pe anCONTENTS Reig Rev accs zt: ’ i Parts ID ie Pres) : ane) oe oe MINDSTORMS, Robotics Invention System, Power of Robotics @ Your Command, RCX and Constructopedi are trademarks of the LEGO—EEE ® GETTING STARTED ) The following steps will help you set up your Robotics Invention System”. Installing Batteries For the RCX to work, 6 new AA/LR6 bat- teries are required, Alkaline are recom- mended. Rechargeable batteries can be used, but power may be reduced. Instructions for use of battery box: Never mix different types of batteries in one battery hox. Always remove the baiteries from the battery box for long-term storage or if they have reached the end of their life, Liquid leaking from ‘dead batteries will damage the RCK, Rechargeable batteries should be recharged under adults supervi- When the RCX's batteries are low, this icon (will appear in the RCX’s dis- play window, RCX: THE BRICK ) ‘The RCK (Robotics Command System) is a programmable LEGO" brick, It has three sensor (input) ports, three output ports, four control buttons, an LCD dis: play, and an infrared transmitter. Italso has a microprocessor to process. programs, internal memory to store firmware and programs, and a built-in speaker to produce beeps and tones. Being a LEGO brick, it has LEGO studs and holes to allow the connection of other LEGO bricks and pegs. The sensor ports are used for attaching Light and Touch Sensors (as well as Rotation and Temperature Sensors, not included in this set). Install batteries as shawn. Sensor ports Infrared transmitter Ny Display windowThe output ports are used for attaching motors (as well as lights and other output devices, not included in this set). GSLYVLS DNILISD. In addition, it has three internal sensors: a timer (to keep track A of time), an RCX message holder (to receive messages sent from other RCX units), and user defined variables, By programming the RCX to react to sensors, you create behaviors for your inventions... You make your robots smart. With te wire etoched Wh the wie stocted " {is way the motortums ths way the motor turns Connecting Motors one drection tne otter arecton. To connect a motor to the RCX, you need to use the black wires with connector plates. Attach one end of the wire to. the motor and the other end to a black output port. The side you attach the wire to can affect the direction of the motor. When building models in this book it is important to attach the wires as shown. Connecting Sensors To connect the Touch Sensor to the RCX, you need to attach one end of the wire to the sensor and the other to a gray sensor port. The Light Sensor already has a wire connected to it. Attach its plate to a gray sensor port. When building the models in this book, it is important to con- nect the sensors to the ports shown in the building instructions,@ xtiesurrons The buttons are used to control your RCX and its programs. OneOff turns the RCX on and of. The other three buttons only work Run starts and stops the selected program. Inthe “Run” made, when the RCKIs on the “ttle person” n the display window appears to be running Prgm (which stan for Progra) allows youto snitch between the View (only active alter frmvare dennloadedl allows you io get into five program slotsin the RCK. The number othe elected program mation an sensors and motors. You can see sensor readings at Input _eppears tothe right ofthe “little person" inthe display window, ports1, 2,0r3, and metor direction at output ports AB, oF C ‘Th use the View button to creck 2 Touch (or Ligh) Sensors reading: 1 Make sire you have dountoaded a prgram that utes «Touch (or Light) Senor andl hao run i at sastonce. 2.Make sure the Touch (or Light) Sensors attached to a sensor parton you ROX, 3. Make site the RCK ison, ‘4 Press the View button, so the arow inthe display window point othe port wheve the Touch for Light) Sensors attached, For the Touch Sensor Far the Light Sensor 5, Press and release the Touch Sensor vhilelooking inthe dlsolay __5. Whe ooking a the csplay window, move the Light Sensor’ eye back windon, When the Touch Sensor is pressed, the number should ane forth over the black tine-on the Test Pad. The number wile low be 1. when it isroleased, it Siould be, when It sees the blackline, and vgn when it sees the white paper. RCX: THE DISPLAY WINDOW. ) The display window shows you information about the RCX and your programs. ‘he Sitle person” running inaieates ‘The number (15) appears to the right of The battery-low indlcater lights up when that he ROX is executing a program. ‘the Mltle person It indicates whieh of battery cherge i low. It lashes ond the ‘he persen starts unning wher the the 5 programs willbe activated when ROK beeps when the batery charge is un button is pressed. the Run buttons presse. very ton, ‘A ahert ot long range infored communica Dots light in aequesce lone ater ‘The Software Watch (only adtive after lion cane lights up when communication the otter) when a program's being firmware downloaded) shows how many hetween he IRTransmitterandtheRCKis __downlaaded from the PC ro he RCX. minutes the RCK has been on fom ast taking place. Seting or teseting. Turning the RCX off and on, or dowaloading Firmware agai resets the Watch An arow displayed belaw 2 sensor port ‘in ariow displayed above an output port indicates thatthe sensor port is beng Indlestes thatthe output port isactive. used by tne vew butten. The direction ofthe arow snows the Erection of amotorconneetad to the port.__THE FIRMWARE )) ‘The frst time your RCX is turned on, or ater batieries Fave been swtcnea (aid i't00% you lorger than one mini te change then), your RCX sin "Bact Moda.” G3LYVLS ONILISD You can see ifyour RCX i in Boot Node by looking a the display window, fthers fs no Software Watch, Boot Mode Te Download tenware to your REX: Make sure you tower I plugged in and your RCXis tuned on. Run the Robotics Invention System! software and click the Set= tings button on the Main Menu. Click the buttan for downloading Firmware 1m Beot Node, you cannat dovinload programe ts your robot becaiise your RCX needs firmware Firmwares spacial sot- ‘ware that allows communication between your computer and Tesch teers ae aces = ceerari ae: Downloading takes approximately 4 minutes. The Sofware Wetch ‘counts asthe frmare's dewnloading and will beep when itis done, do rat snitch offor move your RCX while downloading, Nowever it you aren Boot Mode and do no! have access ta PG cif you just wont to pay with your ROK ight now, Tor more laformatiens about seting up your ACKto work with ou can eee any oF your ROX ve builtin programe ‘your FC, go to Settings, IR TOWER y) ‘The IR Tower establishes awiéless ink between your ‘oinputes and the ROK With the I Tower, programs con be downloaded from your compute to the RCX. These programs can then be executed (run) by the RCK ‘The IR Tower used infrared sigeals vo send messages. For eommunization to occur the ROX ard IR Tower must be ableto see each athe. even thougn de inches (0-12 cm) ‘work best fr dewnloading; in optimatlightine conditions. communication is still possible at cstances up to 90 feet (30 meters) away.——————— lll PROJECT IDEAS ) Below are the three robots used in the Challenges. You can also design your own robots for the Challenges. The Roverbot is a sturdy and steady-going little robot that explores your house. It is able to move around obstacles, as well as fol- low a bright light and a black line. Go to page 10 for building instructions.The Acrobot isa fast, wild robot that darts all over the place. It isa little clown that can do acrobotic stunts, and, by avoiding obstacles, it can do them safely, Go to page 36 for building instructions. The Inventorbot is a smart and attentive stand- ing robot. It can greet you, throw an object, and act as an intruder alarm. It will do your bidding, after you pro- gram it to. Go to page 56 for building instructions, SNOILONHLSNI SNIGTINGEll 10 pn @ ROVERBOT SECTION ) Here is an overview of the Roverbot. The following pages show building instructions for each part. Start by building the Driving Base, then choose which attachments you want to add. The Wheel Sets The Driving Base page 12 REE The Driving Base, together with the RCX forms the Roverbot. Note: For additional attachments, as well as design suggestions, go to Special Features on page 88. The Tracks page 21Examples of a Roverbot. The Single Bumper page 26 oJ c i= iS Zz a Fe 7 I Ey) i= is) = ° Fa 17 The Double Bumper * page 30 The Light Sensor page 34Bs.BUILDING INSTRUCTIONSThis is the Driving Base for the Roverbot. Be sure to attach the wires as shown.Attach the Wheels to the Driving Base like this. Ifyou have not yet built the Driving Base, go to page 12. © = rt =} re 9 Fa a ¢ i S 6 = fo) A nAttach the Legs to the Driving Base like this. If you have not yet built the Driving Base, go to page 12.These building instructions show you how to make one of the two tracks. As you need two, do these building steps twice. SNOILONYLSNI ONIGTING2BUILDING INSTRUCTIONSAttach the Tracks to the Driving Base like this. If you have not yet built the Driving Base, go to page 12. NYLSNI ONIGTIASq Single Bumper8Attach the Single Bumper to the Driving Base like this. If you have not yet built the Driving Base, go to page 12.Double BumperLight Sensor BSAttach the Light Sensor to the Driving Base like this. If you have not yet built the Driving Base, go to page 12, SNOILONHYLSNI SNIGTIAS——E lll @ ACROBOT SECTION Here is an overview of the Acrobot. The following pages show building instructions for each part. Start by building the Driving Base, then choose which attachments you want to add. The Big Wheels page 45 The Driving Base page 38 The Driving Base, together with the RCX forms the Acrobot. The Pivot Wheel page 46 Note: For additional attachments, as well as design suggestions, go to Special Features on page 92.Examples of an Acrobot. The Light Sensor page 55 SNOILONYLSNI SNIGTING The Single Bumper page 49_ 38* edBUILDING INSTRUCTIONSBUILDING INSTRUCTIONS ODS s/s ) A Va \ yin A Yo ie 2 Now the Driving Base is finished. Add wheels to see it run! Big Wheelsoa ite © @ s19 * OSes;fee me) aes BUILDING INSTRUCTIONSAttach the Pivot Wheel to the Driving Base like this. You should also add the two Big Wheels. If you have not yet built the Driving Base, go to page 38,co S a g — 9 a o a a ic 9 a fe} a aAttach the Single Bumper to the Driving Base like this. Ifyou have not yet built the Driving Base, go to page 38. ~ ifBUILDING INSTRUCTIONS g / i Hy ov w Fo i] =@ |VENTORBOT SECTION ) Here is an overview of the Inventorbot, The following pages show building instructions for each part. Start by building the Body and the Standing Base, then choose which attachments you want to add, | The Head page 70 The Slap Arm page 78 The Body ee The Squeeze Arm page 81 The Standing Base page 64 The Body, the Standing Base, and the Head fit together to form the Inventorbot. Note: For additional attachments, as well as design suggestions, go to Special Features on page 96. 36Examples of an Inventorbot. The Light Sensor page 86 pe 3 S| g Ps 9 2 fo) ey -_ The Hat Arm page 74 The Thrower Arm page 84 i :7 Check that your RCX has working batteries before starting.60BUILDING INSTRUCTIONSNow the Body for your Inventorbot is finished. SNOILONYLSNI SNIGTIAS‘ Standing BaseAttach the Standing Base to the Body like this. Ifyou have not yet built the Body, go to page 58. This is where you connect the Standing Base to the Body. = g Fa ®) 2 a g a Se 9 = ° 4 7)Oe -)Inventorbot’s Body like this. If you have not yet built the Body and the Standing Base, go to page 58. Now you are ready to build some arms for your Inventorbot. SNOILONYLSNI SNIGTINGAttach the Hat Arm to the Inventorbot like this. Make sure piece A fits into piece B. Ifyou have not yet built the Body and the ‘Standing Base, go to page 58. SNOILONYISNI DNIGTIAS20 Attach the Slap Arm to the Inventorbot like this. If you have not yet built the Body and the Standing Base, go to page 58,| @ Ug = Ss ra fs) Fo a ah El Cc 98 =! 3° r ones) i = 9S re 2 Fa G a E] Cc 6 =| fo} Fe OG Aitach the Squeeze Arm to the Inventorbot like this. Ifyou have not yet built the Body and the Standing Base, go to page 58.Attach the Thrower Arm to the Inventorbot like this. Make sure that piece A fits into piece B. Ifyou have not yet built the Body and the Standing Base, go to page 58. cS ‘ S = 2 iS) Fa G 4 Es] = 6 = fe} 2 GLight Sensor a - & C a o%: © wT,Attach the Light Sensor tothe Inventorbot’s Body like this. mz = S Se 2 Fa} = G g EY) = 6 = o Fe @ if you have not yet built the Body and the Standing Base, 90 to page 58.——E lll @ SPECIAL FEATURES ) The following four pages show ideas and suggestions for dressing up your Roverbot. example Angled Wingsexample t Parrot Head an With this head you can program your robot to react when you stroke its “head feathers” AEE PeliBy Tae rg Table Bumper This bumper can make the Roverbot sense the edge of a table and then avoid falling off Hint: The Touch Sensors will be pressed when the bumper goes over the edge. Waming: Make sure bumper works before trying it on a table. Basket exampleTail Sensor Cyclops You can attach the Tail Sensor or the Cyclops like this, Cable Control BE) ThE ia tele ty detail The Cable Control can be used as a remote control to steer your robot. It uses two Touch Sensors. Use the longest wires in the set to get the maximum distance for control.———E lll @ _SPECIAL FEATURES The following four pages show ideas and suggestions for dressing up your Acrobot. —. Stem stem yes Standing Pivot Wheelexample p= |S TPA EE i heel 1yBer Urry Hind Legs The Bug Head has a Touch Sensor that should be activated when the feelers bump into something. It also has a Light Sensor so it can follow a bright light. example 3 Crawler LegsPower Bumper This bumper can make the Acrobot react when the bumper hits an object. The robot is 50 fast, it needs Support Wheels to keep it from falling over. ‘Support Wheels example detail Se} TREE Bae hy—E ll @ SPECIAL FEATURES These two pages show ideas and suggestions for dressing up your Inventorbot. Waving Arm The Waving Arm is attached ta the Inventorbot like the Hat Arm on page 77 example Touch Sensor Nose 96detail Head Shaker Attachment When motor Ais running, the robot will shake its head. example Target Bumper ove SSHNIva4 WIdSdS Can you program your robat to throw an object ot the Target Bumper and make it sense when it hits? Use the longest wire to connect the Ter- get Bumper to the Inventorbot. example——— lll @ TIPS cKS On the following four pages you can find tips This does not spin ané tricks to make your inventions bigger, stronger, and faster. ge Meaiipns Gray connector pegs allow moveable connections. Connecting two beams Black connector pegs lock beams firmly. Plates can also be used.Adding height Using two plates between beams makes your construction more durable. Extending axles _ Using beams to support your axles makes your construction more durable. bp" fo) p= Wight |300 Adding hubs for caterpillar treads The gears allow the hubs to revolve. The Worm Gear Connecting the worm gear axle to a motor will cause the 24-tooth gear to turn very slowly, but with lots of power. Angle gearing Making a gearing at an angleBy using a belt drive, you can transmit power over long distances, _w 1:3 gearing Using 1 to 3 gearing causes your axle to spin fast. 1 ge Using the same size gears makes the attached axle move at the same speed as the motor. 3:1 gearing Using 3 to 1 gearing causes your axle to turn slow, but with power. Eps Fe) = or | EBa TOP SECRET (CODE: NU-INVOTAT-A DEP: MINDSTORMS REF INVENTORBOTPLANS ROX DESCRIPTION: ‘This is a prototype for a new Base that allows the Inventorbot g fo move forwards and turn while moving backwards, It uses Only one motor! By attaching a Light Sensor to the Base, the robot can De Pr grammed to see the difference between the table edge and what lies beyond it.LIGHT SEN: OR/TEST PAD ) The Light Sensor can be used with the Test Pad. With the Light Sensor pointing down, you can make your robot follow a black line. With the Light Sensor pointing forwards, you can make your robot follow or avoid light Use the numbers to measure distance. See how far your robo! goes with different wheels over time. Make your robot 7 count the green blocks. 6 This color strip can be used to find out an individual color’s numerical value as measured by the RCK. Use the View button (as explained on page 6) to see the Light Sensor readings. Note: the amount of light in your room will effect the reading. 3020.4.1.2820,.0.0 06. o? aN \t ¢ 6 % | | one00a00 cenwapaverhehacattal\ wna £4.6.6.9.64 er rere oak \aeethat he « @ @ 0.8 of) alect.0) Oe