1. ORTOP NXT Robotics Techniques Workshop 2006
“Opening doors to the worlds of science and technology for Oregon’s youth”
11/24/2018
NXT Robotics Techniques

2. NXT Robotics Techniques - 2006
Goals
Audience: Rookie coaches/mentors, experienced coaches & mentors
Provide Material That Is Immediately Usable With Your Team
Gain Mindstorms NXT Programming Experience
You should have already attended NXT workshops I & II and/or coached a team in a 2005 tournament.
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3. NXT Robotics Techniques - 2006
Instructor Contacts
Ken Cone
Leroy Nuckles
Jim Ryan
Scott Stanko
Roger Swanson
Cathy Swider
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4. NXT Robotics Techniques - 2006
Agenda
Introductions (5 min)
Slide Review (20 min)
Break into Teams
NXT Techniques lab exercises (90 min)
Review References (10 min)
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5. NXT Robotics Techniques - 2006
Agenda
Handouts for this workshop:
NXT_RTechniques2006V1.ppt (this slide set)
NXT_RTechLab2006V1.doc (lab exercises)
NXT WorkshopCD2006V3.2
NXT Workshop materials
MindstormsNXT Tutorial by Dale Yocum
INSciTE NXT Programming manual, from High Tech Kids
High Tech Kids, see references slide
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6. NXT Robotics Techniques - 2006
Our Mission
FLL is not just about building robots and competing in tournaments
Develop team member skills
technical
team building
research & presentation
Technical problem solving can be fun
The youngsters do the work
Introduce possibility of a technical career
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7. NXT Robotics Techniques - 2006
NXT Basics
LEGO Parts Identification
Technic Liftarm 2x4 L shape
Technic Liftarm 1x5, 1x7
Technic Liftarm 3x5 L shape
Technic Liftarm 1x9 Bent
Technic Pin Joiner Dual
Axles & Pins
Have kids inventory your NXT kit & get to know the parts
Important to have all team members become familiar with robot parts.
Build small sub assemblies, e.g. gear trains & grabbers
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8. NXT Robotics Techniques - 2006
NXT Basics
Note how NXT parts are all pinned together using Technic parts
There are only a few plates with bumps
Motors are strong enough for direct drive – turn a wheel on your robot to feel the gears
Motors have built in rotation sensors – programmed in degrees or rotations
Take a minute to examine the NXT parts and motors
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9. NXT Basics – Parts Pinned Together
Note use of pins and axles that hold the pieces together
Note direct drive, motor to wheels
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10. NXT Robotics Techniques - 2006
NXT Basics - Brick
3 Output ports on top
USB port on top
4 Input ports on bottom
Enter button (orange)
Back button (black)
Left & Right cursor buttons (grey)
Screen shows program icons
Push the Enter button, what happens?
Take a minute to examine the NXT brick
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11. NXT Robotics Techniques - 2006
NXT Basics - Brick
Back
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12. NXT Robotics Techniques - 2006
NXT Basics - Brick
Firmware & programs stored in flash (like photos on a digital camera)
Default inputs:
touch = 1, light = 3, Distance = 4
Allowed: 2 touch, 2 light, 1 Distance
Default outputs:
Left motor = C, right motor = B
Allowed: 3 motors (rotation sensors built in)
Allowed: (3 - number of motors) rotation sensors
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13. NXT Robotics Techniques - 2006
NXT Basics - Brick
The NXT Screen
Shows My Files after power on
Orange “Enter” button
“Back” button below Enter
Left & Right “Cursor” buttons
Take a minute now, press the enter key, then navigate through the files
Turn the NXT off by pressing Back several times until NXT asks “turn off”
Confirm with Enter
Each team member should try this
More of the NXT brick controls in the lab
Take a minute to turn your NXT on, off
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14. NXT Robotics Techniques - 2006
NXT Basics - Motors
Forward is Clockwise on an NXT motor
Note holes for Axles and Cams
A Move block in the program controls both motors
The robot moves straight - motors will adjust speed as the robot moves
Recommend programming tests for straight and curved movements, single and multiple Move blocks
Motors can be part of the framework for the robot
Motors adjust speed to run straight, they have position and rate feedback
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15. NXT Basics – Light Sensor
Reads reflection from a built-in IR emitter - (the sensor responds to visible light and into the IR spectrum) (default mode)
Or, reads light intensity from surroundings with emitter turned off
A Calibration procedure is available to accommodate variable lighting conditions
We will go through the calibration procedure in the lab.
Note the light sensor is IR sensitive, e.g. it responds to heat.
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16. NXT Basics – Light Sensors
Default Values
Sensor/ NXTView
(Prior to calibration)
Run Calibrate Program
Cali-brated Values
Sensor (After calibration)
(View unaffected by cal)
White
1023 max
60%
>>
623 max
100%
Green
42%
52%
Black
0 min
30%
293 min 0%
We will go through the calibration procedure in the lab.
Note the light sensor is IR sensitive, e.g. it responds to heat.
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17. NXT Basics – Light Sensors
Calibration “normalizes” the max value to 100% and the min value to 0%
Mid values e.g. green are also affected by calibration
Be sure to deselect/select the light sensor block to get correct readings
Click “default” in calibration window to return to default values
Use NXT Brick View program or Sensor feedback box to read Black, Green, White values as in previous workshops
The sensor feedback box (located in the configuration panel) displays the current light reading (0-100%). You can use it to try out different trigger values.
We will go through the calibration procedure in the lab.
Note the light sensor is IR sensitive, e.g. it responds to heat.
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18. NXT Robotics Techniques - 2006
NXT Basics - Sensors
Touch sensor
Responds to being pressed, or released, or bumped (pressed then released)
Note axle slot for extending sensor capability
Click “More help?” in lower right corner of Mindstorms screen. This works like Show Context Help in ROBOLAB
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19. NXT Basics – Program Memory
Maximum available memory is ~125KB
Firmware refresh and all files deleted
Each program is ~0.1KB overhead
E.g. Move block ~5.1KB, two ~5.8KB
E.g. Move + Wait for light sensor ~7.7KB
Use My Blocks for subroutines
Click NXT Window then Memory to view memory usage
Instructor show this command
Refer to NXTmemory.doc for more details
Instructor, show this file
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20. NXT Basics – Programming
Open Mindstorms NXT, Close the Robo Center
Find “Start New Program” – type “move1” and “Go>>”.
Click the Move block (gears) – note white box
Move mouse so white box is in Start square
Click to drop the Move block in Start square
Click hour glass Wait block, slide mouse to right and click Touch sensor – move to position to right of Move block.
Use Esc key to undo a command
Use Delete key to delete a block
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21. NXT Basics – Lab Exercises
Lab Sections – decide where to start
Lab 1 – Light sensor calibration
Lab 2 – Can-Do Challenge
Lab 3 - The Distance sensor
Lab 4 – 5 – Data Hubs & Variables
Lab 6 – Switches & Range Blocks
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22. NXT Basics – Lab Exercises
Introduce yourself to other team members
Begin with Lab1 exercise
Continue with as many labs as you can
90 min to complete the labs
Ask questions, chances are someone else has the same question
Have fun!
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23. NXT Robotics Techniques - 2006
NXT Basics –
LAB Conclusions
Each team briefly explain a section of what you learned in this workshop
What advice would you have for a team starting out with NXT?
Teaching for understanding “creates challenging situations in which students test their knowledge by solving problems, building products, and giving performances or writing reports that synthesize thorough analysis of a topic, a concept, or an idea.” *
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24. NXT Robotics Techniques - 2006
NXT Basics
Next Steps
NXT Robotics Techniques slides
NXT Techniques labs
Mindstorms NXT tutorial (show tutorial)
INSciTE tutorial
Build and test some robots
Test tracks
Oval track with hill
Make up your own exercises – stress basics
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25. Programming Resources
Tutorials, Dale Yocum
On ORTOP CD or download from
takes time, go through in sections
NXT Tutorial is also available online:
Requires Adobe Macromedia Shockwave Player and high speed download connection
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26. Programming Resources
ROBOLAB 2.9 for NXT
ROBOLAB 2.9 is good where there are a mix of RCXs and NXTs 
Mindstorms NXT is auto-formatting (no wiring)
ORTOP will not teach ROBOLAB 2.9 at this time
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27. NXT Robotics Techniques - 2006
Information
Resources
Inscite
Look for FLL programming 101 nxt g .pdf
This file is on the NXT workshop CD
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28. NXT Robotics Techniques - 2006
Review & Wrap-up
Engineering is designing to constraints
Allow your teams the experience of developing a creative solution to solve a problem
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29. NXT Robotics Techniques - 2006
Review & Wrap-up
Please give us your input
Let ORTOP know how we can improve the program
Thanks for volunteering, your effort makes learning possible!
Restore sensors to default location
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30. NXT Robotics Techniques - 2006
Our Mailing Lists
Totally voluntary, and you can opt out
ortopvol
All volunteers
One way from ORTOP to our volunteers
We add you when you volunteer
ortopcm
Coaches and mentors
Communication among that group and with ORTOP
We add you when you complete a workshop
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31. NXT Robotics Techniques - 2006
Contact Us
Website:
Scott Stanko answers the questions
Phone: (Cathy Swider) or (Bruce Schafer)
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NXT Robotics Techniques