Building Robots With Lego Mindstorms

ForewordPreface Part I Tools Chapter 1 Understanding LEGO® Geometry Introduction Expressing Sizes and Units Squaring the LEGO World:Vertical Bracing Tilting the LEGO World: Diagonal Bracing Expressing Horizontal Sizes and Units Bracing with Hinges Summary Chapter 2 Playing with Gears Introduction Counting Teeth Gearing Up and Down Riding That Train:The Geartrain Worming Your Way:The Worm Gear Limiting Strength with the Clutch Gear Placing and Fitting Gears Using Pulleys, Belts, and Chains Making a Difference:The Differential Summary Chapter 3 Controlling Motors Introduction Pacing,Trotting, and Galloping Mounting Motors Wiring Motors Controlling Power Coupling Motors Summary Chapter 4 Reading Sensors Introduction Touch Sensor Light Sensor Rotation Sensor Temperature Sensor Sensor Tips and Tricks Other Sensors Summary Chapter 5 Building Strategies Introduction Locking Layers Maximizing Modularity Loading the Structure Putting It All Together: Chassis, Modularity, and Load Summary Chapter 6 Programming the RCX Introduction What Is the RCX Using LEGO RCX Code Using the NQC Language Using Other Programming Languages Divide and Conquer: Keeping Your Code Organized Running Independent Tasks Summary Chapter 7 Playing Sounds and Music Introduction Communicating through Tones Playing Music Converting MIDI files Converting WAV Files Summary Chapter 8 Becoming Mobile Introduction Building a Simple Differential Drive Building a Dual Differential Drive Building a Skid-Steer Drive Building a Steering Drive Building a Tricycle Drive Building a Synchro Drive Other Configurations Summary Chapter 9 Expanding Your Options with Kits and Creative Solutions Introduction Acquiring More Parts Creating Custom Components Creative Solutions When More RCX Ports Are Needed Summary Chapter 10 Getting Pumped: Pneumatics Introduction Recalling Some Basic Science Pumps and Cylinders Controlling the Airflow Building Air Compressors Building a Pneumatic Engine Summary Chapter 11 Finding and Grabbing Objects Introduction Operating Hands and Grabbers Understanding Degrees of Freedom Finding Objects Summary Chapter 12 Doing the Math Introduction Multiplying and Dividing Averaging Data Using Interpolation Understanding Hysteresis Summary Chapter 13 Knowing Where You Are Introduction Choosing Internal or External Guidance Looking for Landmarks: Absolute Positioning Measuring Movement: Relative Positioning Summary Part II Projects Chapter 14 Classic Projects Introduction Exploring Your Room Following a Line Modeling Cars Summary Chapter 15 Building Robots That Walk Introduction The Theory behind Walking Building Legs Building a Four-Legged Robot Building a Six-Legged Steering Robot Designing Bipeds Summary Chapter 16 Unconventional Vehicles Introduction Creating Your Own SHRIMP Creating a Skier Creating Other Vehicles Summary Chapter 17 Robotic Animals