Designing For FLL With LEGO - Hints And Tips
Designing for FLLwith Lego MindstormsHints and TipsPresented by:Sharon Youth Robotics Associationsharonrobotics.orgWe acknowledge the efforts and copyrights of FIRST,LEGO Education and LEGO with regards to the contentsof this workshop. Without their generosity, the FIRSTLEGO League would not exist!
Introduction FLL season basics LEGO Mindstorms system basics LEGO Mindstorms chassis design LEGO Mindstorms navigation issues LEGO Mindstorms manipulator design Questions & Wrap-up Coding is beyond the scope of this workshop2017/18 Building for FLL with LEGO - Hints and Tips Workshop
FLL Challenges Each fall, a new themed challenge 2017 FLL challenge : Hydro Dynamics Past challenges 2016 2014 –2013 –2012 –2011 –2010 –2009 –2008 –2007 –2006 –2005 –2004 –2003 2002 –2001 –2000 –1999 –Animal AlliesWorld ClassNature’s FurySenior SolutionsFood FactorBody ForwardSmart MoveClimate ConnectionsPower PuzzleNano QuestOcean OdysseyNo LimitsMission MarsCity SightsArctic ImpactVolcanic PanicFirst Contact2017/18 Building for FLL with LEGO - Hints and Tips Workshop
FLL Challenges Challenges include a series of robotic missions Carried out on a custom mat on top of a 4 x 8’ playingtable, bordered by 2"x3" board borders Read all FLL Challenge documentation thoroughly! Usually 8 individual missions Missions goals scored by object positions at end of 2.5minute competition round Technical presentation about the teams approach to thechallenge and their robot Research Project presentation, as assigned Core Values, as presented and/or demonstrated2017/18 Building for FLL with LEGO - Hints and Tips Workshop
2016 FLL Accounting Team Registration - 225.00 for 2017 season registration Hydro Dynamics Field setup kit - 75.00 Basic LEGO Mindstorms EV3 kit - 439 Can use retail or educational kit, reuse each season Useful, not required Extra EV3 DC battery – 84.95EV3 Gyro sensor – 29.95EV3 Large Servo Motor - 26.95EV3 Medium Servo Motor - 19.95EV3 various duplicate sensors – 23.95 and up Each tournament will have a team registration fee2017/18 Building for FLL with LEGO - Hints and Tips Workshop
LEGO Mindstorms EV3 kit The home and education versions are somewhat different Both versions include: 1 Intelligent EV3 Brick2 large and 1 medium servo motors7 connection cables of various lengths500 LEGO elementsEV3 programming software1 USB computer to EV3 Brick cable Home version includes: 1 touch, 1 color and 1 infrared sensors, plus infrared remote Education version includes: 2 touch, 1 color, 1 ultrasonic and 1 gyro sensors 1 rechargeable battery and chargerCan order education version at team registration2017/18 Building for FLL with LEGO - Hints and Tips Workshop
LEGO Mindstorms NXT 2.0 kit This essential and reusable core set is the recommendedpackage for teams who are newcomers to FIRST LEGO League. NXT/G Software 1 Intelligent NXT Brick 3 Interactive servo motors (rotation sensor built in) 2 touch, 1 sound, 1 light and 1 ultrasonic Sensors 1 USB computer to Brick cable 7 connection cables of various lengths 500 LEGO elements Recommended additions 2 rechargeable DC batteries 1 DC battery charger2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Useful Building Resources Building Robots with LEGO Mindstorms NXT David Astolfo, Mario Ferrari, Guilio Ferrari Great overall reference for LEGO robotics Winning Design! LEGO Mindstorms NXT Winning Design! Lego Mindstorms EV3 James J. Trobaugh More specific to addressing challenges https://www.firstinspires.org/robotics/fll https://techbrick.com/fll-resources/fll2017 www.sharonrobotics.org – links and resources Many LEGO and FLL web resources available Use Google keyword searches2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Recommended “Textbooks” for our teams These books have guided this presentation Winning Design! LEGO Mindstorms NXT Winning Design! Lego Mindstorms EV3 Author - James J. Trobaugh Experienced FLL coach from Georgia Book oriented to FLL activitiesThese books arerecommendedsolely on theirmerits – SYRA hasno financial interest.2017/18 Building for FLL with LEGO - Hints and Tips Workshop
LEGO Mindstorms components allowed LEGO electrical parts limited to : One EV3, NXT or RCX microcontroller Only 4 motors! Total quantity brought to the competition table!Cannot add in extra motors in detachable modules!We really mean it!Also, no pull-back mechanical motors Any number of LEGO-manufactured sensors Touch, light, color and ultrasonic sensors LEGO cables allowed as needed All LEGO non-electric components are allowed In any quantity – BrickLink Marketplace is a source LEGO pneumatics are allowed2017/18 Building for FLL with LEGO - Hints and Tips Workshop
NXT Brick, motors & sensors NXT (NeXT) 4 Sensor inputs (plus rotation sensors on motors) 3 Motor outputs LCD and control buttons Sensors TouchLightSoundUltrasonic Motors2017/18 Building for FLL with LEGO - Hints and Tips Workshop
EV3 Brick, motors & sensors EV3 (3rd Evolution) 4 Sensor inputs (plus rotation sensors on motors) 4 Motor outputs LCD and control buttons Sensors TouchColorGyroscopicUltrasonic Motors Large & Medium2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems block diagram Chassis Computer(microcontroller) Motors Power Sensors Communicationsand control2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – EV3 Controller Sensor ports - four input ports toattach sensors - 1, 2, 3 & 4. Motor ports - 4 output ports toattach motors - A, B, C & D USB port – for code loading EV3 ButtonsOrange button : On/Enter /RunLight grey arrows: Used to moveleft & right in the NXT menuDark grey button: Clear/Go back LEGO attachment points LoudspeakerSpecifications32-bit ARM9 microcontroller16 Mbytes FLASH, 64 Mbytes RAMBluetooth wireless (V2. DER)USB 2.0 port, 489 Mbits/secSupports WiFi dongle4 input ports, 6-wire cable digital4 output ports, 6-wire cable digital178 x 128 pixel LCD graphical displayMicro-SD card reader (32 GB max)Power source: 6 AA batteries or LiIon2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – NXT Controller Sensor ports - four input ports toattach sensors - 1, 2, 3 & 4. Motor ports - 3 output ports toattach motors - A, B & C USB port – for code loading NXT ButtonsOrange button : On/Enter /RunLight grey arrows: Used to moveleft & right in the NXT menuDark grey button: Clear/Go back LEGO attachment points LoudspeakerSpecifications32-bit ARM7 microcontroller256 Kbytes FLASH, 64 Kbytes RAM8-bit AVR microcontroller4 Kbytes FLASH, 512 Byte RAMBluetooth wireless (Class II V2.0)USB full speed port (12 Mbit/s)4 input ports, 6-wire cable digital3 output ports, 6-wire cable digital100 x 64 pixel LCD graphical displayLoudspeaker - 8 kHz sound quality.Power source: 6 AA batteries2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – NXT motors Your robot is able to moveusing up to 3 servomotors. Rotation 170 rpm, 20N/cm NXT servo motors have anintegrated rotation sensor Two motors can besynchronized so that yourrobot will move in astraight line2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – EV3 motors Your robot is able to moveusing up to 4 servo motors. Rotation Large 160 rpm, 20 N/cm;axle to either side Medium 240 rpm, 8 N/cm;axle to front EV3 servo motors have anintegrated rotation sensor Two motors can besynchronized so that yourrobot will move in a straightline2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – NXT & EV3 power Batteries are placed inside of the NXT microcontroller Flash memory – programs not lost when battery removed 6 AA cells or 1 Lithium Ion rechargeable battery Two different battery packs, AC or DC charger2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – NXT sensors Sensors are used to provideinformation about the environmentto the microcontrollerLight Light sensor – used for line tracking, acolor with filterTouch Touch sensor – used to sense collisions Ultrasonic sensor – sense proximity(distance without touching) Color sensor – sense colors, linetrackingColorUltrasonic2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – EV3 sensors EV3 sensors are similar to NXT Touch sensor – used to sense contact Color sensor – used to sense colors andtrack lines Gyroscopic sensor – used to estimaterobot motion Ultrasonic sensor – used to senseproximity (distance without touching) Infrared sensor – used for homing onbeacons and remote controlTouchColorGyroInfraredUltrasonic2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Bricks & Beams Standard LEGOs – bricks, hold together by friction only LEGO Technics – standard beams, hold together byfriction and/or pins LEGO Technics – studless beams, hold together by pins2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Liftarms & Pins Studless beams alsocome in “bent” shapes Some connectors arecrossed for axles,others round Pins are differentlengths & tightness –the light grey ones willrotate in the holes2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Axles & Angle Connectors Axles can be used for morethan just connectingwheels. With angle connectors, lightframeworks can be built2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Gears & Drive Trains Gears are designated by # of teeth Motor speed starts at 125 rpm Smallest (8t) & largest (40t) give a 5 to 1 ratio Gearing down (small to large) increases torque (power) anddecreases speed Gearing up (large to small) decreases torque and increasesspeedSpur Gears40241682017/18 Building for FLL with LEGO - Hints and Tips Workshop
Technic Gears Spur gears 8t, 16t, 24t, 40t Crown gearDouble bevel gearsSingle bevel gearsWorm gearClutch gear2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Technic Gear trains Gear up/gear down Up for speed Down for torque Idler gears Only first and last gearaffect ratios Single stage gearing Ratio between # of teeth Multi stage gearing Multiplicative 3:1 plus 3:1 becomes 9:12017/18 Building for FLL with LEGO - Hints and Tips Workshop
Worm Gears, Bevel Gears & Pulleys Worm gear w/gear rack –equivalent of 1st gear High torque Difficult to back drive! Crown & Bevel gears Use to change angle ofrotation (90 ) Pulleys bridge distance Low torque capacity (bands slip)2017/18 Building for FLL with LEGO - Hints and Tips Workshop
LEGO Wheels Avoid tracks Low friction/high slippage Motion/turns not easily reproducible Large wheels go farther per revolution Friction varies with different tires Consider how well they pivot for turns, as well as straightforward motion Wheel-axle support More support – less wiggle/sag Support from both sides is best2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Wheel Stability1. Not Stable2. Stable3. More Stable4. Most Stable2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Design and Construction Planning – what does the team want to achieve andhow will they achieve it? Let the kids do it! Design iteration Brainstorm (what to build)Design (how to build it)Build it!Test it!Repeat until it’s perfect (or good enough) Trade-offs: Good, Quick, Cheap – pick two (at most)! Quality – Schedule – Budget2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Design Considerations Size – navigate obstacles on board, motor power Ruggedness – maintain structural integrity Center of Gravity – avoid tipping with slopes, sharpturns or stops, or in collisions Chassis style 2 wheel Balancing skid is usually fine if no ramps to climb 3 wheel Caster wheel can change robot course (supermarket carts) 4 wheel Usually one pair is without tires to slide while pivoting) 6 wheel Larger than most FLL robots, consider size of the base2017/18 Building for FLL with LEGO - Hints and Tips Workshop
General Robot Chassis Design The chassis (body) of therobot is built using LEGOTechnic components. It should be stable andrugged, so it does not fallapart under use. Remember – after it is built,you still need to get to thebattery compartment on thebottom of themicrocontroller.2011/12 Building for FLL with LEGO - Hints and Tips Workshop
General Robot Chassis Design Two basic designs (many that are more complex) Differential Drive “Tank-like” steering, one motor connected to each side Powerful, easy to turn in place Can be a challenge to go straight Steering Drive “Car-like” steering, one motor to drive a pair of wheels,another motor to steer Less power (steering motor doesn’t add drive power), hard toturn in place Not often used in competition2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot systems – NXT motors Each motor has a built-in RotationSensor to control the robot’smovements precisely. Rotationsare measured in degrees orrotations [ /- one degree]. 1 rotation 360 degrees, if youset a motor to turn 180 degrees,it will make half a turn. Slack in the internal gear-trainmakes precise movements difficultto reproduce exactly The built-in Rotation Sensor ineach motor also lets you setdifferent speeds for your motors[set different power parameters insoftware].2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Chassis DesignDifferential Drive - dual wheel pivot2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Chassis DesignDifferential Drive - single wheel pivot2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Navigation – Design Issues Wheelbase – narrow turns easily, wide goes straighter Like fighter jets, stability is less maneuverable Weight – heavy yields less tire slip Weight placement affects balance, ability to turn Wheel support – flexing of axles makes erratic motion Support from both sides, if possible Batteries – constant power levels are key Replacement batteries are important Match motors for performance Build jig to compare rotation speeds Works best if you have many motors to choose from2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Navigation – Design Issues Wall following Horizontal guide wheels, approach wall at shallow angle Line following Use the light generated by the light sensor itself For greatest accuracy, box light sensors to eliminate (asmuch as possible) ambient light Calibration can help to reduce the effect of changes inexternal lighting, but is hard to eliminate Light sensors tend to hunt – pivoting on one wheel (insteadof two) tends to be less jittery and make faster progress Take advantage of knowing the proper course for themission – not a general-purpose line follower2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Navigation - Design Issues Uncalibrated light ranges from 30 to 70, 50 is a goodcenter of the midrange Look for a range, look for & , not equal to a single value Single light sensor line following Following a grey value between the black line and thewhite border Dual light sensor line following One follows the black line, the other follows the whiteborder Triple light sensor line following The middle one follows the black line, the outer onesfollow the white borders2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Navigation - Design Issues Reorientation after turns Squaring against walls can restore a known angle Push for a time, or use twin touch sensors Contact surface of robot and wall must be smooth Movement to a fixed point should be careful not to base only onrotations – a timer can save the robot from never arriving at thefinal distance value Dual light sensors can be used to align along a line on the mat Arrival Touch sensors can detect impact Ultrasonic sensor can detect an approach without contact Successful designs tend to use a combination of movementcontrolled by rotations and timers and sensor-based movement2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Demo robot from “Winning Design” bookused for examples2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Demo robot enhancement Adding an attachment connection Snap-on or slip-on Use long black friction pins They don’t pull out easily when theattachment is removed2017/18 Building for FLL with LEGO - Hints and Tips Workshop0
Demo robot enhancement Adding a third motor on reverse end Snap-on / snap-off Cable to motor port A2011/12 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design - no motors Simple pusher design – “bulldozer” Flat surface Snap-on or slide-on Move game elements independently or in a container2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design - no motors Simple plow design –“cowcatcher” Angled surfaces Snap-on or slide-on Move game elements outof robot’s path2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design – motors optional Fork and Hookattachments Can be combined withpower assist to lift or sweep2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design – motors optional Object trap Box opens only inward Capture objects to returnto base2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design - with motors Only four motorsallowed in FLL Two are used forpropulsion Additional motors can beattached to chassis or toattachments themselves If on the chassis,attachments would bedesigned to connect tothe fixed motor NXT controller has only 3motor ports, EV3 has 42017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design - with motors Carabineer arm Passive clip open/close Spring or band tensioned Principle can be used for grabbers. etc. Powered arm to raise/lowerattach to motorwith axle2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design - with motors Lifting hook attachment Vertical pivot fromattached motor Similar design couldpivot horizontally as agrabber2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Robot Manipulator Design - with motors Forklift attachment Uses worm gear, resists being back-driven Gearing is often used in powered attachments Can provide extra torque or slower motion Simultaneous motion (grabber arms coming together) Can redirect angle of motion2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Testing FLL Robots Test robots in mission environment Table/mat/mission objects Properly oriented and secured Time missions Speed is important, but consistency is even more critical Only 2.5 minutes total, include in-base time Modify design one change at a time Too many variables can confuse issues Don’t change code before you verify battery strength Weak batteries cause performance issues2011/12 Building for FLL with LEGO - Hints and Tips Workshop
Practicing with FLL Robots Practice in mission environment At first, just the individual mission Then, in combination with others Time in base for change-over is critical Best to practice in assigned pairs Plan for contingencies When to grab robot and try again (or move on) One of pair can follow robot down-field (quick grabs) Alternate plan in case of difficulties Murphy’s Law (and its many corollaries) Whatever can go wrong will go wrong, and at theworst possible time, in the worst possible way Murphy was an optimist!2017/18 Building for FLL with LEGO - Hints and Tips Workshop
Questions & Wrap-up Resources linked at our Sharon YouthRobotics Association website Including this 18 Building for FLL with LEGO - Hints and Tips Workshop
2017/18 Building for FLL with LEGO - Hints and Tips Workshop Each fall, a new themed challenge 2017 FLL challenge : Hydro Dynamics Past challenges 2016 - Animal Allies 2014 – World Class 2013 – Nature’s Fury 2012 – Senior Solutions
Internet: www.LEGO.com Annual Report 2018 is published for the LEGO Group by Finance and Corporate Brand Communications. Design: Kontrapunkt Print: Rosendahls Printed copies: 50 LEGO, the LEGO logo, the Minifigure, DUPLO, the FRIENDS logo and NINJAGO are trademarks of the LEGO Group. 2019 The LEGO Group. LEGO Star Wars & Lucasfilm Ltd.
FLL The FIRST LEGO League 2016/2017 Challenge: FLL 2015/16 The theme for STEM Invention & Innovation 2017 is ‘Smart Furniture’. A smart furniture is an innovative furniture that is capable of functioning in different ways without consuming a lot of space and is easy to m
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The FLL Core Values are the cornerstones of the FLL program. They are among the fundamental elements that distinguish FLL from oth-er programs of its kind. By embracing the Core Values, participants learn that friendly competition and mutual gain are not separate goals, and that helping o
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