Table of Contents

Foreword
Preface
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
Introduction
Creating a Mouse
Creating a Turtle
Creating Other Animals
Summary
Chapter 18 Replicating Renowned Droids
Introduction
Building an R2-D2-Style Droid
Building a Johnny Five-Style Droid
Summary
Chapter 19 Solving a Maze
Introduction
Finding the Way Out
Building a Maze Runner
Building a Maze Solver
Summary
Chapter 20 Board Games
Introduction
Playing Tic-Tac-Toe
Playing Chess
Playing Other Board Games
Summary
Chapter 21 Playing Musical Instruments
Introduction
Creating a Drummer
Creating a Pianist
Other Suggestions
Summary
Chapter 22 Electronic Games
Introduction
Creating a Pinball Machine
Creating a Simon-Says Game
Other Electronic Game Suggestions
Summary
Chapter 23 Drawing and Writing
Introduction
Creating a Logo Turtle
Tape Writer
Further Suggestions
Summary
Chapter 24 Simulating Flight
Introduction
Introducing the Forces Involved in Flight
Designing the Simulator Project
Building the Hardware
Programming the Simulator
Operating the Simulator
Downsizing the Project
Upsizing the Project
Summary
Chapter 25 Constructing Useful Stuff
Introduction
Building a Floor Sweeper
Building a Milk Guard
Building a Plant Sprinkler
Designing Other Useful Robots
Summary
Part III Contests
Chapter 26 Racing Against Time
Introduction
Hosting and Participating in Contests
Optimizing Speed
Combining Speed with Precision
Summary
Chapter 27 Hand-to-Hand Combat
Introduction
Building a Robotic Sumo
Attack Strategies
Getting Defensive
Testing Your Sumo
Summary
Chapter 28 Searching for Precision
Introduction
Precise Positioning
Finding and Collecting Things
Playing Soccer
Summary
Chapter 28 Searching for Precision
Introduction
Precise Positioning
Variations on Collecting
Playing Soccer
Summary
Appendix A Resources
Introduction
Bibliography
General Interest Sites
Chapter 1 Understanding LEGO Geometry
Chapter 2 Playing with Gears
Chapter 3 Controlling Motors
Chapter 4 Reading Sensors
Chapter 5 Building Strategies
Chapter 6 Programming the RCX
Chapter 7 Playing Sounds and Music
Chapter 8 Becoming Mobile
Chapter 9 Expanding Your Options with Kits and Creative Solutions
Chapter 10 Getting Pumped: Pneumatics
Chapter 11 Finding and Grabbing Objects
Chapter 12 Doing the Math
Chapter 13 Knowing Where You Are
Chapter 14 Classic Projects
Chapter 15 Building Robots That Walk
Chapter 16 Unconventional Vehicles
Chapter 17 Robotic Animals
Chapter 18 Replicating Renowned Droids
Chapter 19 Solving a Maze
Chapter 20 Board Games
Chapter 21 Playing Musical Instruments
Chapter 22 Electronic Games
Chapter 23 Drawing and Writing
Chapter 24 Simulating Flight
Chapter 25 Building Useful Stuff
Chapter 26 Racing Against Time
Chapter 27 Hand-to-Hand Combat
Chapter 28 Searching for Precision
Appendix B Matching Distances
Appendix C Note Frequencies
Appendix D Math Cheat Sheet
Sensors
Averages
Interpolation
Gears,Wheels, and Navigation
Index

About the Author

Mario Ferrari received his first Lego box around 1964, when he was 4. Lego was his favorite toy for many years, until he thought he was too old to play with it. In 1998, the Lego Mindstorms RIS set gave him reason to again have Lego become his main addiction. Mario believes Lego is the closest thing to the perfect toy. He is Managing Director at EDIS, a leader in finishing and packaging solutions and promotional packaging. The advent of the MINDSTORMS product line represented for him the perfect opportunity to combine his interest in IT and robotics with his passion for LEGO bricks, which started during his early childhood. Mario has been a very active member of the online MINDSTORMS community from the beginning and has pushed LEGO robotics to its limits. Mario holds a bachelor's degree in Business Administration from the University of Turin and has always nourished a strong interest for physics, mathematics, and computer science. He is fluent in many programming languages and his background includes positions as an IT manager and as a project supervisor. Mario estimates he owns over 60,000 Lego pieces. Mario works in Modena, Italy, where he lives with his wife Anna and his children Sebastiano and Camilla. Giulio Ferrari is a student in Economics at the University of Modena and Reggio Emilia, where he also studied Engineering. He is fond of computers and has developed utilities, entertainment software, and Web applications for several companies. Giulio discovered robotics in 1998, with the arrival of MINDSTORMS, and held an important place in the creation of the Italian LEGO community. He shares a love for LEGO bricks with his oldest brother Mario, and a strong curiosity for the physical and mathematical sciences. Giulio also has a collection of 1200 dice, including odd-faced dice and game dice. He studies, works, and lives in Modena, Italy.