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PART I: LEGO BRICKS AND BUILDING BASICS Chapter 1 Basic Brick Assembly Brick Basics Basic Building Techniques Working with Motors and Gears Combining Beams and TECHNIC Plates with Holes Combining TECHNIC Pins, Beams, and Liftarms Diagonal Joining Techniques Joining Diagonal Assemblies Vertically Summary Chapter 2 Motors Motors You Can Use with the RIS The RIS Motor Summary Chapter 3 Gears The LEGO Gears Gears Included in the RIS Gears Not Included in the RIS Other Parts Used with Gears Experimenting with Gears: Preparations Assembly Instructions: Building the Gear Testing Assembly Experimenting with Flat-tooth Gears Assembly Instructions: Experimenting with Gears Rotation Direction Torque Gear Ratio Backlash Changing the Direction of Rotation Assembly Instructions: Experimenting with the Bevel Gear Experimenting with the Bevel Gears Gear Combinations Summary Chapter 4 Sensors and the RCX Sensors Electric Touch Sensor Brick Electric Light Sensor Electric Rotation Sensor Electric Temperature Sensor The RCX The RCX's Internal Circuit Board Positioning the RCX Robotics Discovery Set and Droid Developer Kit: Alternatives to the RCX Summary PART II: SOFTWARE Chapter 5 RCX Software Fundamentals Software Architecture Level 0 Level 1 Level 2 Level 3 Standard Firmware User Firmware Summary Chapter 6 RCX Code 2.0 Programming Operations Controlling the Motor Looping Tasks Sensors Using a Sensor to Branch a Program Event-Driven Program Variables Subroutines Summary Chapter 7 ROBOLAB 2.0 ROBOLAB Versions The ROBOLAB Program Screen ROBOLAB Programs Controlling the Motor Looping Tasks Sensors Using a Sensor to Branch a Program Using a Sensor to Create an Event-Driven Program Variables Subroutines Compile Errors Summary Chapter 8 NQC and the RCX Command Center About NQC About the RCX Command Center Download and Install the Programs NQC Programs with RcxCC NQC Tasks Controlling the Motor Looping Tasks Sensors Using a Sensor to Branch a Program Using a Sensor to Create an Event-Driven Program Variables Subroutines Compile Errors Summary Chapter 9 legOS Download and Install legOS and Related Software Install Cygwin Install the Cross-Compiler Set Up the Bash Shell Install legOS Build legOS Confirm legOS Is Working Compile and Transfer Your Own Programs legOS Program Examples Controlling the Motor Looping Tasks Sensors Using a Sensor to Branch a Program Variables Debugging Further Possibilities Summary Chapter 10 Third-Party Programs that Let You Control the RCX The USB Tower Installing and Using VLL RCX Byte Code Byte Code Attributes Byte Code Transfer Format Sample Program Tower Programming Compared Timeout Serial Tower Echo Reception Timing Summary PART III: CREATING ROBOTS Chapter 11 Robots that Use Tires Assembly Instructions: Tire Robot #1 Making the Robot Walk "Randomly" Random Walk Program (RCX Code 1.5) Random Walk Program (RCX Code 2.0) Adding Feelers Build the Feelers Program the Feelers Adding Eyes Program the RCX to Follow a Black Line Two Methods in RCX Code 1.5 Two Methods in RCX Code 2.0 Program Alternatives Improving Your Robot Chapter 12 Building Multi-Legged Robots Center of Gravity Six-Legged Walking Robot Assembly Instructions Program, Feelers, and Eyes Chapter 13 Multi-Legged Robots that Can Turn Two Ways to Change Direction on the Spot Two Ways to Change Direction While Moving Forward Mushi Mushi #5 Assembly Instructions How Does Mushi Mushi #5 Move Forward? How the Middle Leg Moves Controlling the Left and Right Legs The Feeler Assembly Further Experiments The Mushi Mushi #5 Program Program for RCX Code 1.5 Program for RCX Code 2.0 Troubleshooting Design Tips: Walking Robots Chapter 14 Robot with a Grabbing Hand The Theory Using the RCX's Weight to Balance the Arm Maintaining Position The Hand and Wrist Using Ribbed Tubing to Extend the Rotating Axle Arm Joint Building a Turntable Assembly Instructions Build the Arm Joint and Fingers Build and Attach the Turntable Build the Arm Attach the Motor, Wrist, and Fingers Build the Base Controlling Robot Arm #3 Visual Basic Program The Robot Arm Controller Screen Explanation of the Program Going Farther Chapter 15 The Birth of MIBO Using Two RCXs Plan 1 Plan 2 MIBO Fundamentals Making MIBO Walk Making MIBO Sit Parts List MIBO Assembly Instructions Build One Hip and Shoulder Build the Knee and Shoulder Controls Build the Legs and Feet Build the Second Side of Torso Build the Neck Build the Head MIBO's Wiring Collecting MIBO's Parts Programming MIBO Moving the Hind Legs: Explanation of Listing 1 Transporting MIBO After MIBO Chapter 16 Handy Construction Tricks Securing the RCX Vertically Combining Gears Reinforcing Caterpillar Tread Axles Using Wheels to Build an Object with Radiating Spokes Magnetic Clutch Using the Three-Blade Rotor PART 4: LEGO CAD SOFTWARE Chapter 17 MLCad Prerequisites Downloading The MLCad Screen Creating a Diagram Getting Started Using Subfiles Copying and Pasting Objects Rotating Parts MLCad Tips Work from a Physical LEGO Model Use Wireframe Mode to Speed Up Display Time Oblique Connections Subfiles Using Gears Using a Part Repeatedly Entering Comments in the Configuration List Grouping Configuration List Entries Changing the Color of Multiple Elements at One Time Summary Chapter 18 L3P and L3PAO L3PAO: Graphical Interface to L3P Basic L3P Options Placing the Camera Placing Lights Enhancing Your Models Outputting and Saving Files Summary Chapter 19 POV-Ray Installing POV-Ray Basic Procedure Selecting a Resolution Creating Custom Resolutions Saving an Image Adding Textures with an Include File Summary Chapter 20 Creating Assembly Diagrams Required Software and Data Assembly Diagram Example Procedure for Creating Assembly Diagrams Step 1: Creating the Substep Images Step 2: Determining the Number of Substeps Step 3: Creating the Completed Image Step 4: Creating a Parts List for an Individual Page Step 5: Combining Various Images Summary Chapter 21 Collecting, Organizing, and Cleaning Parts Colors Types of Parts Cost of Parts Collecting Specific Parts Organizing Parts The Storage Case Classification Using Palettes when Building Cleaning Your Parts How to Wash LEGO Parts Appendix A Byte Code Commands Appendix B Robot Arm Controller Source Code |
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