Lego Ev3 Programming

Table of Contents TABLE OF CONTENTS ................................................................................................................................................... I ABOUT THIS BOOK .................................................................................................................................................... IV NOTES ....................................................................................................................................................................... V 1 OBSTACLE AVOIDANCE ................................................................................................................................. 1 1.1 TRACKER ROBOT BUILD ................................................................................................................................. 2 1.2 CONNECTING SENSORS AND ACTUATORS ........................................................................................................ 2 1.3 PROGRAMMING THE ROBOT USING ICONS ....................................................................................................... 3 1.3.1 Overall Program ........................................................................................................................................ 7 1.4 ADJUSTING FIELD SETTING ............................................................................................................................. 7 1.5 DOWNLOAD AND TEST .................................................................................................................................... 8 1.6 TECHNICAL NOTES ......................................................................................................................................... 8 1.7 MISSION TIPS ................................................................................................................................................. 8 1.7.1 My Track3r doesn’t move .......................................................................................................................... 8 1.7.2 My Track3r doesn’t move on a straight line ................................................................................................ 8 1.7.3 My track3r crashed the obstacle ................................................................................................................. 8 2 AVOID FALLING ............................................................................................................................................. 10 2.1 TRACKER ROBOT BUILD ............................................................................................................................... 11 2.2 CONNECTING SENSORS AND ACTUATORS ...................................................................................................... 11 2.3 PROGRAMMING THE ROBOT USING ICONS ..................................................................................................... 12 2.3.1 Overall Program ...................................................................................................................................... 14 2.4 ADJUSTING FIELD SETTING ........................................................................................................................... 15 2.5 DOWNLOAD AND TEST .................................................................................................................................. 15 2.6 TECHNICAL NOTES ....................................................................................................................................... 15 2.7 MISSION TIPS ............................................................................................................................................... 15 2.7.1 My Track3r doesn’t move ........................................................................................................................ 15 2.7.2 My track3r falling while testing ................................................................................................................ 15 3 OBSTACLE CLEARANCE .............................................................................................................................. 16 3.1 TRACKER ROBOT BUILD ............................................................................................................................... 17 3.2 CONNECTING SENSORS AND ACTUATORS ...................................................................................................... 17 3.3 PROGRAMMING THE ROBOT USING ICONS ..................................................................................................... 18 3.3.1 Overall Program ...................................................................................................................................... 19 3.4 ADJUSTING FIELD SETTING ........................................................................................................................... 20 3.5 DOWNLOAD AND TEST .................................................................................................................................. 20 3.6 TECHNICAL NOTES ....................................................................................................................................... 20 3.7 MISSION TIPS ............................................................................................................................................... 20 3.7.1 My Track3r doesn’t move ........................................................................................................................ 20 3.7.2 My Track3r doesn’t move on a straight line .............................................................................................. 21 3.7.3 My Track3r doesn’t move the blender to push the tire out ......................................................................... 21 4 ACTION COLOR .............................................................................................................................................. 22 4.1 TRACKER BUILD ........................................................................................................................................... 23 4.2 CONNECTING INPUTS/OUTPUTS ..................................................................................................................... 23 4.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................ 23 4.3.1 Overall Program ...................................................................................................................................... 27 4.4 ADJUST FIELD SETTING ................................................................................................................................ 28 4.5 DOWNLOAD AND TEST .................................................................................................................................. 28 4.6 TECHNICAL NOTES ....................................................................................................................................... 28 4.7 MISSION TIPS ............................................................................................................................................... 28 4.7.1 My Track3r doesn’t move ........................................................................................................................ 28 4.7.2 My Track3r Color sensor identify colors wrong ........................................................................................ 29 4.7.3 My Tracker replay the same color when start before identifying any color ................................................ 29 5 LABELS ............................................................................................................................................................. 30 5.1 TRACKER ROBOT BUILD ............................................................................................................................... 30 5.2 CONNECTING SENSORS AND ACTUATORS ...................................................................................................... 31 5.3 PROGRAMMING THE ROBOT USING ICONS ..................................................................................................... 32 5.3.1 Overall Program ...................................................................................................................................... 37 Icon based Programming Sample July 2014 Your First Step For Coding Page i

5.4 ADJUSTING FIELD SETTINGS .......................................................................................................................... 37 5.5 DOWNLOAD AND TEST .................................................................................................................................. 37 5.6 MISSION TIPS ................................................................................................................................................ 38 5.6.1 My Track3r doesn’t move ......................................................................................................................... 38 5.6.2 My Track3r Color sensor can’t identify colors .......................................................................................... 38 5.6.3 My Track3r doesn’t Stop .......................................................................................................................... 38 5.6.4 My Track3r stop before reaching the last block ......................................................................................... 38 5.6.5 Trak3r Crashes the blocks while avoiding it .............................................................................................. 38 6 OBSTACLE CLEARANCE USING COLOR SENSOR ................................................................................... 39 6.1 TRACKER BUILD............................................................................................................................................ 40 6.2 CONNECTING INPUTS/OUTPUTS...................................................................................................................... 40 6.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................. 41 6.3.1 Overall Program ....................................................................................................................................... 45 6.4 ADJUST FIELD SETTING ................................................................................................................................. 45 6.5 DOWNLOAD AND TEST .................................................................................................................................. 46 6.6 TECHNICAL NOTES ........................................................................................................................................ 46 6.7 MISSION TIPS ................................................................................................................................................ 46 6.7.1 My Track3r doesn’t move ......................................................................................................................... 46 6.7.2 My Track3r Color sensor identify colors wrong ......................................................................................... 46 6.7.3 My Tracker replay the same color when start before identifying any color ................................................. 46 7 ESCAPE .............................................................................................................................................................. 47 7.1 TRACKER BUILD............................................................................................................................................ 48 7.2 CONNECTING INPUTS/OUTPUTS...................................................................................................................... 48 7.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................. 49 7.3.1 Overall Program ....................................................................................................................................... 53 7.4 ADJUST FIELD SETTING ................................................................................................................................. 53 7.5 DOWNLOAD AND TEST .................................................................................................................................. 53 7.6 TECHNICAL NOTES ........................................................................................................................................ 54 7.7 MISSION TIPS ................................................................................................................................................ 54 7.7.1 My Track3r doesn’t move ......................................................................................................................... 54 7.7.2 My Track3r turns to the wrong side ........................................................................................................... 54 7.7.3 My Track3r moving the hammer Wrong.................................................................................................... 54 7.7.4 My Track3r doesn’t detect enemies ........................................................................................................... 54 8 ENEMIES DETECT AND ATTACK ................................................................................................................ 55 8.1 TRACKER BUILD............................................................................................................................................ 56 8.2 CONNECTING INPUTS/OUTPUTS...................................................................................................................... 56 8.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................. 57 8.3.1 Overall Program ....................................................................................................................................... 61 8.4 ADJUST FIELD SETTING ................................................................................................................................. 62 8.5 DOWNLOAD AND TEST .................................................................................................................................. 62 8.6 TECHNICAL NOTES ........................................................................................................................................ 62 8.7 MISSION TIPS ................................................................................................................................................ 62 8.7.1 My Track3r doesn’t move ......................................................................................................................... 62 8.7.2 My Track3r turns to the wrong side ........................................................................................................... 62 8.7.3 My Track3r moving the hammer Wrong.................................................................................................... 62 8.7.4 My Track3r doesn’t detect enemies ........................................................................................................... 62 9 BOUNCING BALL ............................................................................................................................................ 63 9.1 TRACKER BUILD............................................................................................................................................ 63 9.2 PROGRAMMING ROBOT USING ICONS ............................................................................................................. 63 9.3 DOWNLOAD AND TEST .................................................................................................................................. 68 9.4 MISSION TIPS ................................................................................................................................................ 68 9.4.1 Ball moving slowly ................................................................................................................................... 68 10 MOVE IT AWAY ........................................................................................................................................... 69 10.1 TRACKER BUILD............................................................................................................................................ 70 10.2 CONNECTING INPUTS/OUTPUTS...................................................................................................................... 70 10.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................. 71 10.4 SUMMARY..................................................................................................................................................... 74 10.5 ADJUST FIELD SETTING ................................................................................................................................. 74 10.6 DOWNLOAD AND TEST .................................................................................................................................. 75 10.7 MISSION TIPS ................................................................................................................................................ 75 Page ii Icon based Programming Sample July 2014 Table of Contents

10.7.1 My Track3r doesn’t move .................................................................................................................... 75 10.7.2 My Track3r turns to the wrong side ...................................................................................................... 75 10.7.3 My Track3r doesn’t open the claw........................................................................................................ 75 11 CONTROL USING BRICK .......................................................................................................................... 76 11.1 TRACKER BUILD ........................................................................................................................................... 76 11.2 CONNECTING INPUTS/OUTPUTS ..................................................................................................................... 76 11.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................ 77 11.3.1 Overall Program .................................................................................................................................. 80 11.4 ADJUST FIELD SETTING ................................................................................................................................ 80 11.5 DOWNLOAD AND TEST .................................................................................................................................. 80 11.6 MISSION TIPS ............................................................................................................................................... 81 11.6.1 My Track3r doesn’t move .................................................................................................................... 81 12 COUNT UP AND CONTROL USING IR ..................................................................................................... 82 12.1 TRACKER BUILD ........................................................................................................................................... 82 12.2 CONNECTING INPUTS/OUTPUTS ..................................................................................................................... 82 12.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................ 83 12.3.1 Overall Program .................................................................................................................................. 86 12.4 ADJUST FIELD SETTING ................................................................................................................................ 87 12.5 DOWNLOAD AND TEST .................................................................................................................................. 87 12.6 MISSION TIPS ............................................................................................................................................... 87 12.6.1 Power of Motor .................................................................................................................................... 87 12.6.2 Calibration ........................................................................................................................................... 88 13 SHOOT IT ..................................................................................................................................................... 89 13.1 TRACKER BUILD ........................................................................................................................................... 89 13.2 CONNECTING INPUTS/OUTPUTS ..................................................................................................................... 89 13.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................ 90 13.3.1 Overall Program .................................................................................................................................. 91 13.4 ADJUST FIELD SETTING ................................................................................................................................ 91 13.5 DOWNLOAD AND TEST .................................................................................................................................. 91 13.6 TECHNICAL NOTES ....................................................................................................................................... 91 13.7 MISSION TIPS ............................................................................................................................................... 92 13.7.1 My Track3r doesn’t turn ...................................................................................................................... 92 13.7.2 My Track3r doesn’t turn too much or too little...................................................................................... 92 14 MOVING USING IR ..................................................................................................................................... 93 14.1 TRACKER BUILD ........................................................................................................................................... 93 14.2 CONNECTING INPUTS/OUTPUTS ..................................................................................................................... 93 14.3 PROGRAMMING ROBOT USING ICONS ............................................................................................................ 94 14.3.1 Overall Program .................................................................................................................................. 97 14.4 ADJUST FIELD SETTING ................................................................................................................................ 98 14.5 DOWNLOAD AND TEST .................................................................................................................................. 98 14.6 TECHNICAL NOTES ....................................................................................................................................... 98 14.7 MISSION TIPS ............................................................................................................................................... 99 14.7.1 My Track3r doesn’t move .................................................................................................................... 99 15 OBSTACLE CLEARANCE USING IR REMOTE ..................................................................................... 100 15.1 TRACKER BUILD .......................................................................................................................................... 100 15.2 CONNECTING INPUTS/OUTPUTS .................................................................................................................... 100 15.3 PROGRAMMING ROBOT USING ICONS ........................................................................................................... 101 15.3.1 Overall Program ................................................................................................................................. 105 15.4 ADJUST FIELD SETTING ............................................................................................................................... 105 15.5 DOWNLOAD AND TEST ............................................................................................................................. 106 15.6 TECHNICAL NOTES .................................................................................................................................. 106 15.7 MISSION TIPS .............................................................................................................................................. 106 15.7.1 My Track3r doesn’t move ................................................................................................................... 106 15.7.2 My Track3r Medium Motor doesn’t stop ............................................................................................. 106 Icon based Programming Sample July 2014 Table of Contents Page iii

About this Book In this book, set of challenging and interesting lessons are presented to enable the learner to master and get the concepts of programming. Each lesson is presented as mission to be accomplished by the Lego mindstorm® EV3robot. Although the Lego mindstorm EV3 can be assembled in many configurations, in this book, all examples are designed for Tracker configuration to keep the concentration on learning the programming and avoid distracting the audience with the innovation in building the robot. For each mission in each lesson, Tracker Building instruction is provided followed by mission needs for Inputs and Outputs Connections. The main section in each lesson is Programming Robot Using Icons to achieve the mission. The Field Setting adjustment is covered for testing purpose. The lesson ends by giving instructions for downloading the code and testing the program. Technical tips are given after the lesson to solve the problems that might arise while testing. The lessons in this book are suitable for transferring the programming concepts for all ages especially students in age from 10 to 16. Adults who like to get programming sense to start professional career in computer science also might start with this book. The video snapshots for these lessons are available at our channel on YouTube: https://www.youtube.com/user/METIroboVics Icon based Programming Sample July 2014 Preface Page iv

Notes Copyrights are for METI-roboVics. This edition is sample and it is under review. Your notes are most welcomed, kindly send them to [email protected] Icon based Programming Sample July 2014 Preface Page v



1 Obstacle Avoidance The Goal of this mission is to drive Tracker around and detect obstacles in the field using Infrared sensor. Tracker can go straight, turn left, turn right, in order to avoid detected obstacles. Depend on early programming using programming blocks to use the information derived from the infrared sensor to change direction of tracker with custom steps. Fig.1 Mission Icon based Programming Sample July 2014 Your First Step For Coding Page 1

1.1 Tracker Robot Build Lego Ev3 track3r is one of the basic building of ev3 robot and composed of most of Lego parts that provided with the robot to the robot owner And there is specified steps to build this track3r (Look at Ev3 building Instructions) Fig. 2 Tracker with IR Sensor in the Field 1.2 Connecting Sensors and Actuators In obstacle avoidance ev3 module we need some of inputs and outputs to get the features of moving and detection of obstacles, so the component we need is a. Infrared Sensor b. 2 Large Motors • We should connect Infrared sensor to the input ports ( in our example we connect the infrared sensor to port 4 ) • Large motors should connect to two output ports ( in our example we connect the motors to the ports B+C )  Note : We connected Normal Motor for any advanced Mission Sample July 2014 Icon based Programming Page 2 Your First Step For Coding

1.3 Programming the Robot Using Icons We used Programming icons to program robot to use motors for moving and use Sensor to detect and give information about obstacles and there is specific block for every robot action and every block have some models of work so we use some of them with custom models to program Ev3 track3r robot to Avoid Obstacles. • Programming 1. We Used Waiting For Sensor Block to Compare The Threshold Value input with the value collected with infrared sensor • If it was true, then the program stops waiting and move to the next block. • If it was not true, program still waiting for new sensor reading. Fig. 3 Programming – Step 1 We used Waiting for Sensor Block with Infrared Sensor – Compare – Proximity Mode and compare type input is 4 with the meaning of less than Comparison and the threshold input value is 35 and port will be input port 4 2. We Used Move Steering Block to let the robot move while the IR sensor detect obstacles that robot will work to avoid it. Fig. 4 Programming – Step 2 We used the Move Steering Block with On Mode and Zero Steering to move straight with Power -24 and the output port is B+C. 3. We Used Large Motor Icon to avoid obstacle by changing the straight forward moving in two steps a. We used large motor to move the robot to the right by let the stopping the right motor and starting the left motor. Icon based Programming Sample July 2014 Your First Step For Coding Page 3

Fig. 5 Programming – Step 3 Large Motor in On for Rotations mode with power value -21 to move forward for 3 Rotations and connected to output port c to work with left motor and connected to Large motor in off mode and connected to output port B to stop the right motor while working of the left motor b. We used large motor to move the robot back to the left by stopping the left motor and starting the right motor. Fig.6 Programming – Step 4 Large Motor in On for Rotations mode with power value -21 to move forward for 3 Rotations and connected to output port B to work with right motor and connected to Large motor block in off mode and connected to output port C to stop the Left motor while working of the Right motor 4. Robot will move to the end of the field and rotate to start avoid this obstacle again with different programming and mechanical technic Fig. 7 Programming – Step 5 Move steering in on mode with steering 0 to move straight and power -50 to move forward and connected to output port B+C followed by wait block that delay the following block for 5 sec while the robot is moving forward Sample July 2014 Icon based Programming Page 4 Your First Step For Coding

5. Robot will start rotating using move steering before the end of the field Fig. 8 Programming – Step 6 Three blocks of move steering from left to right a. Move steering in on for seconds mode with steer 100 to turn left and power value is -50 to move forward for 1 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer 0 to move straight and power value is - 50 to move forward for 1 seconds and function of brake at end is True. c. Move steering in on for seconds mode with steer 100 to turn left and power value is -50 to move forward for 1 seconds and function of brake at end is True. 6. Using Move steering robot will continue moving after rotation till the IR sensor detect the obstacle again Fig. 9 Programming – Step 7 Move steering in on Mode with steering 0 to move straight and power -50 to move forward and connected to output ports B+C and then Waiting block in Infrared sensor – Compare – Proximity Mode with compare type 5 that mean that the comparison is less than or equal and threshold input value is 25 cm and connected to input port 4 7. When the Robot detect the obstacle using the IR sensor it is the time to start avoid it using different avoid technic Fig. 10 Programming – Step 8 Icon based Programming Sample July 2014 Your First Step For Coding Page 5

Three blocks of move steering from left to right a. Move steering in on for seconds mode with steer -50 to turn right and power value is -50 to move forward for 1.3 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer 0 to move straight and power value is -50 to move forward for 1.5 seconds and function of brake at end is True. c. Move steering in on for seconds mode with steer 50 to turn left and power value is -50 to move forward for 1.5 seconds and function of brake at end is True. 8. Now the Robot avoided the obstacle and the mission now is to get the robot back to start area Fig. 11 Programming – Step 9 Three blocks of move steering from left to right a. Move steering in on for seconds mode with steer 0 to move straight and power value is - 50 to move forward for 3 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer 100 turn left and power value is -50 to move forward for 1second and function of brake at end is True. c. Move steering in on for seconds mode with steer 0 to move straight and power value is - 50 to move forward for 1 seconds and function of brake at end is True. 9. Robot will come back to the start area and make a sound Fig. 12 Programming – Step 10 Two blocks of move steering from left to right a. Move steering in on for seconds mode with steer 0 to move straight and power value is - 50 to move forward for 3 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer 0 to move straight and power value is 50 to move backward for 2 second and function of brake at end is True. Sample July 2014 Icon based Programming Page 6 Your First Step For Coding

1.3.1 Overall Program We build the Ev3 Track3r module and connect with infrared sensor to detect the obstacles and two large motors to move the robot and last but not least is the programming of robot that we program it using icon programming by the LEGO MINDSTORMS EV3 Home Edition Application to avoid obstacles and the final Step is Testing the robot in a real Experiment. Fig. 13 Full program 1.4 Adjusting Field Setting Adjust field of the Ev3 Moving and Obstacles place to be like the blocks settings Fig. 14 Mission Field Icon based Programming Sample July 2014 Your First Step For Coding Page 7

1.5 Download and Test After finishing all above Steps , it’s the time to download program on the brick and start Program Testing by start the brick with the start button and see what happened . 1.6 Technical Notes 1. Power value of motor to moving forward is from -1 to -100 2. Power value of motor to moving backward is from 1 to 100 3. We used in the mission two way of avoid obstacles • Avoid using every large motor alone while the another is stopped • Avoid using move steering block by giving value to steer input as we want 4. All programming blocks input values maybe need to be calibrated due to leak of the battery or changing in the field and obstacles. 1.7 Mission Tips 1.7.1 My Track3r doesn’t move  If your robot doesn’t move the problem can be that the batteries are empty and or that you didn’t connected the cables from motors to brick in the correct way. 1.7.2 My Track3r doesn’t move on a straight line  If it is something serious you perhaps miscoded the robot. Make sure you set both motors at the same speed .If it is something small it may be related to the fact that each motor can be slightly different so one track may move slightly faster than the other. You can try to correct this by software because the alternative is to rebuild it in a different way 1.7.3 My track3r crashed the obstacle  The obstacle should be in area that is obvious to the IR Sensor Sample July 2014 Icon based Programming Page 8 Your First Step For Coding

Icon based Programming Sample July 2014 Your First Step For Coding Page 9

2 Avoid Falling The Goal of this mission is to drive Tracker around and detect edges in there way using Infrared sensor. Tracker can go straight, turn left, turn right, in order to avoid falling. Depend on early programming using programming blocks to use the information derived from the infrared sensor to change direction of tracker with custom steps. Fig. 1 Mission Sample July 2014 Icon based Programming Page 10 Your First Step For Coding

2.1 Tracker Robot Build Lego Ev3 track3r is one of the basic building of ev3 robot and composed of most of Lego parts that provided with the robot to the robot owner And there are specified steps to build this track3r module with the IR Sensor ability to detect edges for more information about this tracker building (Look at our Ev3 building Instructions Manual) Fig. 2 Track3r with IR sensor 2.2 Connecting Sensors and Actuators In obstacle avoidance ev3 module we need some of inputs and outputs to get the features of moving and detection of edges, so the component we need is a. Infrared Sensor b. 2 Large Motors • We should connect Infrared sensor to the input ports ( in our example we connect the infrared sensor to port 4 ) • Large motors should connect to two output ports ( in our example we connect the motors to the ports B+C )  Note : We connected Normal Motor for any advanced Mission Icon based Programming Sample July 2014 Your First Step For Coding Page 11

2.3 Programming the Robot Using Icons We used Programming icons to program robot to use motors for moving and use Sensor to detect and give information about Edges and there is specific block for every robot action and every block have some models of work so we use some of them with custom models to program Ev3 track3r robot to Avoid Falling. 1- We used Move Steering Icon to let the robot moving while the robot is connecting with IR Sensor. Fig. 3 Programming – Step 1 In fig 2 we used Move Steering icon with On Mode and steering 0 to move straight and power -40 to move forward 2. We used Waiting For Sensor Block as an Infrared Sensor – Compare – Proximity to detect edges and give information to the robot brick to be compared with the Threshold Value input with the user and then , if the compare is true The robot will stop Moving and start avoid falling steps if the compare is False , then The robot will resume moving and detecting new readings Fig. 4 Programming – Step 2 • We used Waiting for Sensor Block with Infrared Sensor – Compare – Proximity and compare type input is 2 with the meaning of Larger than Comparison and the threshold input value is 20 and port will be input port 4. Sample July 2014 Icon based Programming Page 12 Your First Step For Coding

Fig. 5 Robot while detection edges 3. If the Comparison of the wait block was true then we use move steering block to do reverse moving to avoid falling from edge and do some avoid steps Fig. 6 Programming – Step 4 In fig 5 we used Moving Steering with reverse moving in On Mode And steering value 0 to move in straight line and power is 50 to move backward and output port B+C to control the 2 Large Motors followed by wait icon with waiting time 1 sec while the robot is moving 4. Ev3 will rotate to avoid falling and in order to continue mission Fig. 7 Programming – Step 5 In fig 6 we used Moving Steering with reverse moving in On Mode And steering value 100 to rotate to left and power is -50 to move forward and output port B+C to control the 2 Large Motors followed by wait icon with waiting time 2 sec while the robot is moving Icon based Programming Sample July 2014 Your First Step For Coding Page 13

5. Using Move steering robot will continue moving after rotation till the IR sensor detect the new edge Fig. 8 Programming – Step 6 Move steering in on Mode with steering 0 to move straight and power -40 to move forward and connected to output ports B+C and then Waiting block in Infrared sensor – Compare – Proximity Mode with compare type 2 that mean that the comparison is greater than and threshold input value is 20 cm and connected to input port 4 6. Robot will rotate again in order to avoid falling again when detecting new edge Fig. 9 Programming – Step 7 In fig 8 we used wait block with wait for time and input time is 1 sec 7. Robot will move to the center of the field and say stop Fig. 10 Programming – Step 8 We used move steering in on for seconds mode with 0 steering and power value -50 to move forward for 2 seconds and function of true at end is true 2.3.1 Overall Program We build the Ev3 Track3r module and connect with infrared sensor to detect the edges and two large motors to move the robot and last but not least is the programming of robot that we program it using icon programming by the LEGO MINDSTORMS EV3 Home Edition Application to avoid Falling and the final Step is Testing the robot in a real Experiment. Sample July 2014 Icon based Programming Page 14 Your First Step For Coding

Fig. 11 Full Program with Icon Based Blocks 2.4 Adjusting Field Setting Adjust field of the Ev3 Moving and calibrate blocks input values with it 2.5 Download and Test After finishing all above Steps , it’s the time to download program on the brick and start Program Testing by start the brick with the start button and see what happened . 2.6 Technical Notes 1. Power value of motor to moving forward is from -1 to -100. 2. Power value of motor to moving backward is from 1 to 100. 3. All programming blocks input values maybe need to be calibrated due to leak of the battery or changing in the field and obstacles. 2.7 Mission Tips 2.7.1 My Track3r doesn’t move  If your robot doesn’t move the problem can be that the batteries are empty and or that you didn’t connected the cables from motors to brick in the correct way. 2.7.2 My track3r falling while testing  Maybe there is a problems with IR sensor or you fixed it wrong Icon based Programming Sample July 2014 Your First Step For Coding Page 15

3 Obstacle Clearance The goal on this mission is to remove a tire from the mission pad. This mission show you how to control both Large-motors and Medium-motor, so basically the task is about completing the robot building and coding an small program that makes the robot move forward and then Using Medium- motor to Clear field from Tires. Fig.1 Mission Sample July 2014 Icon based Programming Page 16 Your First Step For Coding

3.1 Tracker Robot Build Lego Ev3 track3r is one of the basic building of ev3 robot and composed of most of Lego parts that provided with the robot to the robot owner And there is specified steps to build this track3r (Look at our Ev3 building Instructions Manual) Fig. 2 Track3r 3.2 Connecting Sensors and Actuators In obstacle avoidance ev3 module we need some of inputs and outputs to get the features of moving and detection of obstacles, so the component we need is a. 1 Medium Motor b. 2 Large Motors • We should connect Medium Motor to one of the output port (in our example we connect the Medium Motor to Output Port A) • Large motors should connect to two output ports (in our example we connect the motors to the ports B+C) Icon based Programming Sample July 2014 Your First Step For Coding Page 17

Fig. 3 Medium motor connected to clear accessory 3.3 Programming the Robot Using Icons We used Programming icons to program robot to use large motors for moving and use Medium motor to clear field and there is specific block for every robot action and every block have some models of work so we use some of them with custom models to program Ev3 track3r robot to Clear Obstacles Tires. 1. We used Move Steering Icon to let the robot moving forward to the Obstacle Tire. Fig. 4 Programming – Step 1 we used Move Steering icon with On For Rotation Mode and steering 0 to move straight and power is 75 to move forward with Power speed equal to 75 and for 2 Rotation and finally brake at the End Function is True 2. After Moving the Robot to the specific place of the obstacle tire we use the Medium Motor to Clear Field of the first tire. Fig. 5 Programming – Step 2 Sample July 2014 Icon based Programming Page 18 Your First Step For Coding

We used Medium Motor with On For Rotation Mode and power of rotation is equal to 74 for 2 rotation and brake at end function is TRUE ( Medium Motor connected to Port A) nd 3. Now the robot will replay the previous action to clear the 2 tire using move steering again and then medium motor to clear it Fig. 6 Programming – Step 3 We used Move Steering icon with On For Rotation Mode and steering 0 to move straight and power is 75 to move forward with Power speed equal to 75 and for 2 Rotation and finally brake at the End Function is True. nd 4. Again the medium motor will work and clear the 2 tires Fig. 7 Programming – Step 4 We used Medium Motor with On For Rotation Mode and power of rotation is equal to 74 for 2 rotation and brake at end function is TRUE ( Medium Motor connected to Port A) 5. After Using Medium Motor To Clear the Obstacles Tires from the field we used the Move Steering to GO BACK to Start Point Fig. 8 Programming – Step 5 We used Moving Steering with Steering value of 0 to let the Ev3 Moving straight and power value equal -75 to Move backward for 4 Rotations and function of Brake at End is True. 3.3.1 Overall Program As you see it is a quite simple program with a block to use 2 big motors to move forward, then using two medium motor to clear obstacles and finally move backwards to the star area. Fig. 9 Full Mission Program Used Icon Based Programming Icon based Programming Sample July 2014 Your First Step For Coding Page 19

3.4 Adjusting Field Setting Adjust field of the Ev3 Moving and Obstacles Tires place to be like the blocks settings Fig. 10 Field of the mission 3.5 Download and Test After finishing all above Steps , it’s the time to download program on the brick and start Program Testing by start the brick with the start button and see what happened . 3.6 Technical Notes 1. Power value of motor to moving forward is from -1 to -100. 2. Power value of motor to moving backward is from 1 to 100. 3. All programming blocks input values maybe need to be calibrated due to leak of the battery or changing in the field and obstacles. 3.7 Mission Tips 3.7.1 My Track3r doesn’t move  If your robot doesn’t move the problem can be that the batteries are empty and or that you didn’t connected the cables from motors to brick in the correct way. Sample July 2014 Icon based Programming Page 20 Your First Step For Coding

3.7.2 My Track3r doesn’t move on a straight line  If it is something serious you perhaps miscoded the robot. Make sure you set both motors at the same speed or use the new Tracked Vehicle box on the EV3 software.  If it is something small it may be related to the fact that each motor can be slightly different so one track may move slightly faster than the other. You can try to correct this by software because the alternative is to rebuild it in a different way 3.7.3 My Track3r doesn’t move the blender to push the tire out  The problem may be related to not connecting the cable correctly or to the fact that you may have forgotten to add the block that operates the M-motor. Just making it perform two complete rotations is enough to take the tire out. Icon based Programming Sample July 2014 Your First Step For Coding Page 21

4 Action Color The goal on this mission is to Identify or differentiate Colors in the moving field of the Ev3 Tracker using a color sensor device and a switch function programming and when the tracker identify specific color do specific action or move . Fig. 1 Mission Sample July 2014 Icon based Programming Page 22 Your First Step For Coding

4.1 Tracker Build Lego Ev3 track3r is one of the basic building of ev3 robot and composed of most of Lego parts that provided with the robot to the robot owner And there is specified steps to build this track3r With two Sensors IR and Color sensor in the back of Ev3 (for More Information about building look at our manual ) Fig 2 Tracker with Color and IR Sensors 4.2 Connecting Inputs/Outputs In this ev3 module we need some of inputs and outputs to get the features of moving, so the component we need is c. 2 Large Motors d. 1 Color Sensor • Large motors should connect to two output ports ( in our example we connect the motors to the ports B+C ) • Color Sensor should connect to one of the Inputs port ( in our Exam- ple we connect the input port 3) 4.3 Programming Robot Using Icons We used Programming icons to program robot to use Large motors for moving and main function of this mission programming is to use icon programming to differentiate Colors that are in area opposite the Color Sensor using Switch Function and then do specific action every time the color sensor identify specific color . Icon based Programming Sample July 2014 Your First Step For Coding Page 23

10. First we use Loop block to surround all Mission blocks or actions to replay actions inside it to identify colors. Fig. 3 Programming – Step 1 Fig 3 Loop block to let the actions inside the switch function to be replayed for specific times or finite times 11. After using loop block we use switch structure with color sensor block to identify colors and then do specified actions. Fig 4 Switch Block with Color sensor • Now, we are into the switch and we should program it using blocks to do our mission of identifying colors and do specific actions. • First we use Color sensor to identify colors Sample July 2014 Icon based Programming Page 24 Your First Step For Coding

Fig. 5 Programming – Step 3 In Fig 4 we used Color sensor as a switch compare block and the Color sensor Mode is Color Sensor – Measure – Color this Sensor connected to input Port 3 • Now the compare result of the Color sensor will specify the set of the blocks that will be used in this condition. a. Condition One: If the Color Sensor identify white color , Ev3 make the servo motor sound and medium motor will work for 3 second Fig. 6 Programming – Step 4 In Fig 5 we used Sound with sound Servo 3 and Medium Motor Icon in On For Seconds Mode with power value of 50 for 3 second and function of Brake At End Is True and connected to output port A b. Condition Two: If the Color Sensor identify Green color, Ev3 will Say Green and Move Forward for 3 second Fig. 7 Programming – Step 5 Icon based Programming Sample July 2014 Your First Step For Coding Page 25

In Fig 6 we used Sound with sound Brown and Move Steering icon in On For Seconds Mode with steering 0 to move straight with power value of -50 to move forward for 4 seconds and function of Brake At End Is True and connected to output port B+C c. Condition Three: If the Color Sensor identify Yellow color, Ev3 will Say Yellow and Move backward for 4 seconds Fig. 8 Programming – Step 6 In Fig 7 we used Sound with sound Yellow and Move Steering icon in On For Seconds Mode with steering 0 to move Straight with power value of 50 to move backward for 4 second and function of Brake At End Is True and connected to output port B+C d. Condition Four: If the Color Sensor identify Red color, Ev3 will Say Red and Rotate to left Fig. 9 Programming – Step 7 In Fig 8 we used Sound with sound Red and Move Steering icon in On For Seconds Mode with steering 100 to Rotate with power value of -50 for Moving Forward for 4 second and function of Brake At End Is True and connected to output port B+C Sample July 2014 Icon based Programming Page 26 Your First Step For Coding

e. Condition Five: If the Color Sensor identify No Color,Ev3 will Do Nothing Fig. 10 Programming – Step 8 In Fig 9 we used Extra block in switch structure with no color detection Finally, we interrupt the loop of the program with Brick Buttons Function to stop the loop and Ev3. Fig. 11 Programming – Step 9 We Use Brick Buttons to interrupt the loop with specific setting 4.3.1 Overall Program Ev3 will wait color sensor to identify colors and according to color sensor identification the robot will move in and say color that the sensor identify. Fig. 12 Full Program of Action Color using Icon Based Icon based Programming Sample July 2014 Your First Step For Coding Page 27

4.4 Adjust Field Setting Adjust field of the Ev3 Moving and Make it convenient for the movement of the robot. Fig. 13 Ev3 in the field 4.5 Download and Test After finishing all above Steps , it’s the time to download program on the brick and start Program Testing by start the brick with the start button and see what happened . 4.6 Technical Notes 1. Power value of motor to moving forward is from -1 to -100 2. Power value of motor to moving backward is from 1 to 100 3. Final block in the switch structure is very important for the real test of the program because of the speed of the sensor identification and we should use it as a default case of the switch 4. All programming blocks input values maybe need to be calibrated due to leak of the battery or changing in the field and obstacles. 4.7 Mission Tips 4.7.1 My Track3r doesn’t move  If your robot doesn’t move the problem can be that the batteries are empty and or that you didn’t connected the cables from motors to brick in the correct way. Sample July 2014 Icon based Programming Page 28 Your First Step For Coding

4.7.2 My Track3r Color sensor identify colors wrong  Colors should be Obvious and clear opposite the color sensor. 4.7.3 My Tracker replay the same color when start before identifying any color  You should use the final block of the switch with no color identify and no action inside it as default case Icon based Programming Sample July 2014 Your First Step For Coding Page 29

5 Labels The Goal in this mission is to let Ev3 drive in a field and control it using labels like road labels to avoid falling and crashing and this mission required a color sensor to identify labels colors and IR sensor to detect labels. Fig. 1 Mission 5.1 Tracker Robot Build Lego Ev3 track3r is one of the basic building of ev3 robot and composed of most of Lego parts that provided with the robot to the robot owner and there is specified steps to build this track3r With two Sensors IR and Color sensor in the back of Ev3 (for More Information about building look at our manual ) Sample July 2014 Icon based Programming Page 30 Your First Step For Coding

Fig. 2 Track3r with IR and Color Sensors Fig. 3 Ev3 Color Sensor 5.2 Connecting Sensors and Actuators This ev3 module is basic tracker but with two sensors fixed in the back of ev3 and medium motor fixed on the front of ev3 for more advanced mission. f. One Color Sensor g. Two Large Motors h. One IR Sensor i. One Medium Motor • We should connect Color sensor to one of the input port( in our example we connect the Color Sensor to input Port 3 ) • Large motors should connect to two output ports (in our example we connect the motors to the ports B+C) • IR Sensor should connect to one of the Inputs port (in our Example we connect the input port 4) Icon based Programming Sample July 2014 Your First Step For Coding Page 31

• We should connect Medium Motor to one of the output port ( in our example we connect the Medium Motor to Output Port A ) Fig. 4 Ev3 connected with the inputs sensors and large motors 5.3 Programming the Robot Using Icons We used Programming icons to program robot to use Large motors for moving and use Color and IR Sensors for detection and identifying of labels and colors of it and there is specific block for every robot action and every block have some models of work so we use some of them with custom models to program Ev3 track3r robot to Move and detect labels and the main idea of this mission program is the concept of detection and do specific actions depending on this detection.  Power of Move steering for moving forward on our example will be between 0 and -100 and Power of moving backward will be between 0 and 100. 1. First we used Move steering to let ev3 move and then Waiting for data reading by IR sensor in order to take the suitable action Fig. 5 Programming – Step 1 Move steering in on mode with steering 0 to move straight and power -75 to move forward and connected to output ports B+C and then Waiting block in Infrared sensor – Compare – Proximity Mode with compare type 5 that mean that the comparison is less than or equal and threshold input value is 40 cm and connected to input port 4 2. If the Waiting block with IR sensor detects that there is a block in the opposite area of the ev3 and Ev3 should avoid it using Move Steering. Sample July 2014 Icon based Programming Page 32 Your First Step For Coding

Fig. 6 Programming – Step 2 Three blocks of move steering from left to right a. Move steering in on for seconds mode with steer -50 to turn right and power value is -75 to move forward for 1.3 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer 0 to move straight and power value is -75 to move forward for 0.7 seconds and function of brake at end is True. c. Move steering in on for seconds mode with steer 50 to turn left and power value is -75 to move forward for 1.3 seconds and function of brake at end is True. 3. After Detecting and avoiding first block we replay first step by let the ev3 moving and waiting for new Sensor reading Fig. 7 Programming – Step 3 Move steering in on Mode with steering 0 to move straight and power -75 to move forward and connected to output ports B+C and then Waiting block in Infrared sensor – Compare – Proximity Mode with compare type 5 that mean that the comparison is less than or equal and threshold input value is 40 cm and connected to input port 4. 4. This step is a replay of the second step of avoiding the block after detecting it using IR sensor and avoid it using Move steering. Fig. 8 Programming – Step 4 Three blocks of move steering from left to right a. Move steering in on for seconds mode with steer -50 to turn right and power value is -75 to move forward for 1.3 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer 0 to move straight and power value is -75 to move forward for 0.7 seconds and function of brake at end is True. c. Move steering in on for seconds mode with steer 50 to turn left and power value is -75 to move forward for 1.3 seconds and function of brake at end is True. 5. we use Move steering again to drive the Ev3 again toward the last block in the field Icon based Programming Sample July 2014 Your First Step For Coding Page 33

Fig. 9 Programming – Step 5 We used Move steering in On for seconds Mode with steering 0 to move straight and power of -40 to move forward for 3 seconds and function of brake at end is True and connected to output port B+C 6. Now the ev3 in his way toward the final block and there is Two possibilities Fig. 10 Programming – Step 6 Switch with IR block as a compare block with Infrared sensor – compare – Proximity and compare type is 5 with the meaning of less than or equal and the threshold input distance is 20 cm and connected to input port 4  The color sensor Examines the block from small distance only 7. First Possibility: If the distance between the ev3 and the block is less than or equal to 20 cm the robot will examine the block using Color sensor to specify if the block is red color then move backward and avoid it . Fig. 11 Programming – Step 7 Wait block with Color sensor to identify the color of the block in color sensor – Compare – Proximity and set of Colors is [5] to examine red color and then move steering in on for seconds mode with steer 0 to move straight and power of 75 to move backward for 1 sec and then Rotating using move steering in on for seconds mode with steer of 50 to turn left and power of -30 to move forward for 3 seconds and move steering with steer 100 to rotate and power value of -50 to move forward for 4 second and brake at end is True and connected to output port B+C Sample July 2014 Icon based Programming Page 34 Your First Step For Coding

8. Second possibility: If the distance between the ev3 and the block is more than 20 cm the robot will continue moving toward the block because the color sensor couldn’t examine the block from far distance Fig. 12 Programming – Step 8 Moving Steering in on for seconds mode with steer 0 to move straight with power value of -75 for 0.9 second and brake at end is True and connected to output B+C 9. We use Loop function or block to surround the switch and action inside it and replay them 2 time and according to the Scenario of the mission the first time the compare will be false and nd the ev3 will move forward again and 2 time the compare of switch will be true and the robot will examine the block with color sensor and complete actions of the true condition Fig. 13 Programming – Step 9 Loop and switch inside it to examine block with IR and Color sensor Now the Ev3 will start escaping away of the block with red color in specific way with avoiding any obstacles also using IR and finally stop in the start Area 10. We used move steering to move and turn left in order to start his backing way Fig. 14 Programming – Step 10 Icon based Programming Sample July 2014 Your First Step For Coding Page 35

Move steering in On for Seconds Mode with steering 0 to move straight and power is -100 to move straight in maximum speed for 2 sec and then Move steering with steer 50 to turn left and power value of -75 to move forward for 1.5 sec and function of brake at end is True and Connected to output ports B+C 11. Again and like any time of predicting that maybe there is a block in the way of the ev3 and we use the first step again by using move steering and wait with IR sensor. Fig. 15 Programming – Step 11 Move steering in on mode with steering 0 to move straight and power -50 to move forward and connected to output ports B+C and then Waiting block in Infrared sensor – Compare – Proximity Mode with compare type 5 that mean that the comparison is less than or equal and threshold input value is 30 cm and connected to input port 4 12. If the Waiting block with IR sensor detects that there is a block in the opposite area of the ev3 and Ev3 should avoid it using Move Steering. Fig. 16 Programming – Step 12 Three blocks of move steering from left to right a. Move steering in on for seconds mode with steer -50 to turn right and power value is -75 to move forward for 1.3 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer 0 to move straight and power value is -75 to move forward for 0.7 seconds and function of brake at end is True. c. Move steering in on for seconds mode with steer 50 to turn left and power value is -75 to move forward for 1.3 seconds and function of brake at end is True. 13. The Ev3 Now in the final part of the mission and ev3 should back to its start area using move steering Fig. 17 Programming – Step 13 Four blocks of move steering from left to right a. Move steering in on for seconds mode with steer 0 to move straight and power value is -75 to move forward for 2 seconds and function of brake at end is True. b. Move steering in on for seconds mode with steer -50 to turn Right and power value is -75 to move forward for 1.5 seconds and function of brake at end is True. c. Move steering in on for seconds mode with steer -50 to turn Right and power value is -75 to move forward for 2 seconds and function of brake at end is True. Sample July 2014 Icon based Programming Page 36 Your First Step For Coding

d. Move steering in on for seconds mode with steer 0 to move straight and power value is 75 to move backward for 0.8 seconds and function of brake at end is True. 5.3.1 Overall Program Fig. 18 Programming – Full Program 5.4 Adjusting Field Settings Adjust field of the Ev3 Moving and obstacles and according to this field we calibrate the setting of blocks such as Power and time of work Fig. 19 Field Setting 5.5 Download and Test After finishing all above Steps , it’s the time to download program on the brick and start Program Testing by start the brick with the start button and see what happened. Icon based Programming Sample July 2014 Your First Step For Coding Page 37

5.6 Mission Tips In this section, some tips for solving problems that might arise while performing this exercise are covered. 5.6.1 My Track3r doesn’t move  If your robot doesn’t move the problem can be that the batteries are empty and or that you didn’t connected the cables from motors to brick in the correct way. 5.6.2 My Track3r Color sensor can’t identify colors  Colors should be Obvious and near to the Color Sensor and the following figure is the way of Identifying Colors Fig. 20 Color Sensor Identifying Red Color 5.6.3 My Track3r doesn’t Stop  Try to be sure of setting of the Loop Interrupt block 5.6.4 My Track3r stop before reaching the last block  Try to be sure that the ev3 after avoiding the 2 block and before the switch block the distance to the last block is nd more than 20 cm 5.6.5 Trak3r Crashes the blocks while avoiding it  Try to calibrate setting of the move steering of avoiding obstacle according size of the block and area of the field Sample July 2014 Icon based Programming Page 38 Your First Step For Coding

6 Obstacle Clearance using Color Sensor The goal on this mission is to remove tires from the mission pad. This mission show you how to control both Large-motors, Medium-motor using color sensor, so basically the task is about completing the robot building and coding an small program to remove this tires. Fig. 1 Mission Icon based Programming Sample July 2014 Your First Step For Coding Page 39

6.1 Tracker Build Lego Ev3 track3r is one of the basic building of ev3 robot and composed of most of Lego parts that provided with the robot to the robot owner And there is specified steps to build this track3r With two Sensors IR and Color sensor in the back of Ev3 (for More Information about building look at our manual ) Fig. 2 Tracker with Color and IR Sensors 6.2 Connecting Inputs/Outputs In this ev3 module we need some of inputs and outputs to get the features of moving, so the component we need is a. 2 Large Motors b. 1 Color Sensor c. 1 Medium Motors • Large motors should connect to two output ports ( in our example we connect the motors to the ports B+C ) • Color Sensor should connect to one of the Inputs port ( in our Example we connect the input port 3) • We should connect Medium Motor to one of the output port (in our example we connect the Medium Motor to Output Port A) Sample July 2014 Icon based Programming Page 40 Your First Step For Coding

Fig. 3 Ev3 Tracker Connected with Color and IR Sensors 6.3 Programming Robot Using Icons We used Programming icons to program robot to use Large motors for moving and use Medium motor to clear field and control all this actions to remove tires using color sensor there is specific block for every robot action and every block have some models of work so we use some of them with custom models to program Ev3 track3r robot to Clear Obstacles Tires. 1. First we use Loop block to surround all Mission blocks or actions to replay actions inside it to identify colors. Fig. 3 Programming –Step 1 Fig 3 Loop block to let the actions inside the switch function to be replayed for specific times or finite times 2. After using loop block we use switch structure with color sensor block to identify colors and then do specified actions. Icon based Programming Sample July 2014 Your First Step For Coding Page 41

Fig. 4 Switch Block with color sensor • Now, we are into the switch and we should program it using blocks to do our mission of identifying colors and do specific actions. • First we use Color sensor to identify colors Fig. 5 Programming – Step 3 In Fig 4 we used Color sensor as a switch compare block and the Color sensor Mode is Color Sensor – Measure – Color this Sensor connected to input Port 3 • Now the compare result of the Color sensor will specify the set of the blocks that will be used in this condition. a. First Step: If the Color Sensor identify Yellow color , Ev3 use Move Steering Icon to let the robot moving Forward to the Obstacle Tire Sample July 2014 Icon based Programming Page 42 Your First Step For Coding

Fig. 6 Programming – Step 4 we used Sound block with sound Go and Move Steering icon with On For Rotation Mode and steering 0 to move straight and power is 75 to move forward with Power speed equal to 75 and for 2 Rotation and finally brake at the End Function is True nd b. 2 Step: If the Color Sensor identifies White color, Ev3 use the Medium Motor to Clear Field of the first tire. Fig. 7 Programming – Step 5 We used Sound with Sound Detected and Medium Motor with On For Rotation Mode and power of rotation is equal to 74 for 2 rotation and brake at end function is TRUE ( Medium Motor connected to Port A) rd c. 3 Step: If the Color Sensor identify Yellow color, Ev3 use Move again using Steering Icon to nd let the robot moving Forward to the 2 Obstacle tire Fig. 8 Programming – Step 6 we used Sound block with sound Go and Move Steering icon with On For Rotation Mode and steering 0 to move straight and power is 75 to move forward with Power speed equal to 75 and for 2 Rotation and finally brake at the End Function is True Icon based Programming Sample July 2014 Your First Step For Coding Page 43