1. EV3 Workshop Oct 3, 2015 Instructor: Chris Cartwright
Assistants: Chris Parker and Matthew Ryan
Lawrence Technological University

2. Lego EV3 robot used - SP Right Motor: C Left Motor: B Touch Sensor
EV3 Computer
Sonar Sensor
Left Motor: B
Color Sensor

3. Remember the connections!
Left Motor connects to B
Right Motor connects to C
Center Color sensor connects to port no. 1
Left Color sensor connects to port no. X
Sonar sensor connects to port no. 3
Touch sensor connects to port no. 4
Sound sensor connects to port no. X
X: not used in this workshop

4. EV3 Versions Used Examples are using EV3 software Version 1.1.0
EV3 brick Firmware version: 1.60 (V1.06E.bin)
All example programs in paradeWorkshop2014.ev3 (project)
Free (Home Edition) version – Google search “EV3 software download”
 Also need to download Ultrasonic.ev3b and select Tools> Block Import

5. Go straight for 2 seconds using different power levels
Mission 0:
Go straight for 2 seconds using different power levels
launch OR
LEGO MINDSTORMS
Education EV3
paradeWorkshop 2014.ev3

6. Go forward for 2 seconds with power level 40 %
Green!
EV3 offers two move blocks
Move Steering Block: Controls and regulates two motors with a steering input and single power level. (+) steering = right; (-) steering = left
Move Tank Block: Controls two motors with a power level to each motor
In this course we will use the Move Steering Block.

7. Let’s test it
Connect the EV3 to the laptop (if this is the first time, then a “Found New Hardware” message will appear)
Click on the ‘Download’ button
It’s recommended to always unplug the cable from the bot before running the program
Navigate through the EV3’s menu:
Turn On > My Files > Software Files
Then select your program and run it!

8. Distance traveled How many centimeters when 40% power used?
How the robot is traveling when 80% power used?
How to find out the current battery voltage level?

9. EV3 large servo motors: geared motor with built-in rotation sensor
Rotation sensor gives “degrees” turned. (It can also give “rotations”)
For example, if the value is 360, the motor turned one rotation.

10. Display the “rotations” when the bot goes forward for 2 seconds
Mission 1:
Display the “rotations” when the bot goes forward for 2 seconds

11. Display the “rotations” turned from going forward for 2 seconds
Tip: After in “T” text mode,
click here and select wire
Program: DispRotations.ev3p

12. Math Review Number of rotations = degrees / 360
C = D * 3.14
Number of rotations = degrees / 360
Circumference (C) = diameter (D) * 3.14
Travel distance = number of rotations (N) * circumference of the wheel (C)
Speed = distance / time

13. How to calculate the average speed of robot for that 2 seconds ?
We can get number of rotations for 2 seconds by choosing “Measure – Rotations”
If the circumference of the wheel is 17.6cm (5.6 x 3.14), what is the travel distance for 2 sec?
Then what is the averaged speed of the robot for the 2 seconds?
Note: RoboParade has min and max speed limits. 9 – 18 cm/sec
2) # rotation * circumference.
3) Speed = travel distance / 2

14. How to calculate average SPEED?
If at 1pm your mom’s car is at mile marker 5,000 and at 3pm your mom’s car is at mile marker at 5,120, what is the average speed of your mom’s car?
𝑣= 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑡𝑖𝑚𝑒
120/2 = 60miles/hour
distance
Time 2
Time 1

15. Example: If the number of rotations = 2.8

16. Display the “speed” when the bot goes forward for 2 seconds
Mission 2:
Display the “speed” when the bot goes forward for 2 seconds

17. Display Speed for 2 Second Drive
Check the port
Demonstrate to create this program from scratch and ask them to do everything from scratch.
Program: DispSpeed.ev3p

18. Ultrasonic Sensor Uses the same scientific principle as bats
Can measure in centimeters or inches
Large objects with hard surfaces return the best readings
(a) About 20 degrees (b) About 60 cm (c) About 22 cm
Data from

19. How to get (read) sensor data
When the robot is connected (USB or Bluetooth) to your computer:
On the robot: Third tab –> Port View
Test your Sonar Sensor and read data NOW!
Tip: reconnect the cable, if it does not work

20. EV3 Flow Control (Orange)
Wait: time, touch sensor, …
Loop: endless, count, …
Loop interrupt
Decision making using switch

21. What does this program do?
Let them just open “sonarTest.ev3” and test the program. Note: if not working, unplug and re-plug the connector
Data driven
Program: SonarTest.ev3p

22. EV3 Color Sensor Percent Mode:
5% = lowest dark
100% = very bright
Reflected Light Mode: shines a red light; we are using this mode.
The light can be turned off – detecting ambient light (surrounding light) – not used today
The sensor may need to be Calibrated (see Bonus material)

23. Display EV3 Color Sensor value
Program: DispLight.ev3p

24. Test & Read Your Color Sensor Data
On the parade track record color sensor values
On Black line: ____________
One the beige table: ___________
On the beige color masking tape: ___________

25. Zigzag Line following Idea
Left side following
Right side following

26. Line following using a Color Sensor
Mission 3:
Line following using a Color Sensor

27. Simple Line Following Algorithm
Right side.
Show the program and ask them to create
Program: LineFlwZZ.ev3p
Q: Right side or Left side following?

28. How and Where to start the robot?C
On the line: OK

29. How and Where to start the robot?
Right side of the line: OK B C

30. How and Where to start the robot?
Lost…
Left side of the line: NO! B C

31. Follow the Parade Route and stop when an object is sensed
Mission 4:
Follow the Parade Route and stop when an object is sensed

32. Line Following with STOP
Repeat the following forever:
If sonar sensor detects an object
Stop!!!!!
Otherwise
Follow the black line

33. Line Following with STOP
Program: paradeZZ.ev3p

34. Mission 5:
Multiple parallel programs – RoboParade with Speed Display (every second)

35. RoboParade with Speed Display
Program: paradeZZspd.ev3p

36. Parade Program Concept
Concurrently Run 3 Parallel Programs
1) Repeat the following forever:
If sonar sensor detects an object
Stop!!!!!
Otherwise
Follow the black line
2) Display the average speed
3) Float operations with other motor(s)

37. RoboParade with all functions
Mission 6:
RoboParade with all functions

38. RoboParade with all functions
Line Following With Stop
Motor on Float
Display Robot Speed
Program: paradZZall.ev3p

39. Calibration of the Color Sensor
Bonus Material 1:
Calibration of the Color Sensor

40. EV3 Color Sensor Calibration
Program: Calibrate.ev3p

41. Test & Read Your Color Sensor Data
On the parade track record color sensor values
On Black line: ____________
One the beige table: ___________
On the beige color masking tape: ___________
Run the calibration program on the parade track and repeat measurements
One the beige color table: ______________

42. Little Robots, Big Missions
Questions?