HACKING YOUR LEGO

MINDSTORMS EV3 KIT

®

John Baichtal

800 East 96th Street,

Indianapolis, Indiana 46240 USA
ii Hacking Your LEGO Mindstorms EV3 Kit

Editor-in-Chief
Hacking Your LEGO® Mindstorms® EV3 Kit
Greg Wiegand

Executive Editor
Copyright © 2016 by John Baichtal
Rick Kughen
All rights reserved. No part of this book shall be reproduced, stored in
a retrieval system, or transmitted by any means, electronic, mechanical, Development Editor
photocopying, recording, or otherwise, without written permission from Susan Arendt
the publisher. No patent liability is assumed with respect to the use of
the information contained herein. Although every precaution has been Managing Editor
taken in the preparation of this book, the publisher and author assume Sandra Schroeder
no responsibility for errors or omissions. Nor is any liability assumed for
damages resulting from the use of the information contained herein. Project Editor

ISBN-13: 978-0-7897-5538-4 Mandie Frank

ISBN-10: 0-7897-5538-6 Copy Editor
Library of Congress Control Number: 2015942445 Geneil Breeze
Printed in the United States of America Senior Indexer
First Printing: November 2015 Cheryl Lenser

Proofreader
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not be regarded as affecting the validity of any trademark or service mark.
LEGO® and MINDSTORMS® are registered trademarks of The LEGO Editorial Assistant
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Warning and Disclaimer Mark Shirar
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 iii

Contents at a Glance
CHAPTER 1 Introduction 1
CHAPTER 2 Project: Plotter Bot 7
CHAPTER 3 Hacking LEGO I: Connections 51
CHAPTER 4 Project: Remote-Controlled Crane 63
CHAPTER 5 Hacking LEGO II: Alternate Controllers 105
CHAPTER 6 Project: Robot Flower 123
CHAPTER 7 Hacking LEGO III: Create Your Own LEGO Parts 157
CHAPTER 8 Project: Ball Contraption 177
CHAPTER 9 Hacking LEGO IV: Add-on Electronics 239
CHAPTER 10 Project: Flagpole Climber 259
Glossary 303
Index 307
iv Hacking Your LEGO Mindstorms EV3 Kit

Table of Contents
Chapter 1 Introduction 1
Hacking Mindstorms 2
Chapter Topics 6
Chapter 2 Project: Plotter Bot 7
Parts List 8
Building the Plotter Bot 9
Program the Plotter Bot 43
Moving the Motors 44
A Simple Program 45
Resetting the X Axis 47
Hacking Opportunities 49
Summary 49
Chapter 3 Hacking LEGO I: Connections 51
Mindstorms Wires Explained 51
Inside the Mindstorms Wire 52
Hacking Mindstorms Wires 53
Exploring Wireless Options 56
Infrared Sensor and Beacon 56
Bluetooth 57
Hacking Wireless 58
Summary 62
Chapter 4 Project: Remote-Controlled Crane 63
Parts List 64
Building the Crane 65
Programming the Crane 93
Controlling the Crane with Infrared 98
Using Your Phone’s Commander App 98
Summary 104
Chapter 5 Hacking LEGO II: Alternate Controllers 105
Microcontrollers and Microcomputers 106
Arduino 106
Raspberry Pi 108
BeagleBone Black 110
But Why? 112
Example Projects 114
Book Reader 114
Mini Tank 115
Chocolate Milk Maker 116
Ball Counting Robot 117
Rolling Alarm Robot 118
BeagleBone Black Robot 119
Programing Environments 120
 Table of Contents v

LeJos 121
RobotC 121
Monobrick 121
ev3dev 121
Summary 122
Chapter 6 Project: Robot Flower 123
Robot Flower Mindstorms Build 124
Parts List 124
Steps 125
Program the Robot Flower 146
Substituting the Arduino 150
Quick and Dirty Arduino 151
Parts 152
Steps 153
Programming the Arduino 154
Summary 155
Chapter 7 Hacking LEGO III: Create Your Own LEGO Parts 157
Designing Your Own Parts 158
Check Your Dimensions 159
Create the Design File 160
Output and Iterate 161
Finding Designs 161
Thingiverse 162
LDraw 163
SketchUp Warehouse 163
Outputting Your Own Parts 164
CNC Mill 164
Laser Cutter 167
3D Printer 170
Tip: Parametric 3D Models 175
Summary 176
Chapter 8 Project: Ball Contraption 177
Building the Contraption 178
Parts List 178
Steps 179
Program the Contraption 224
Creating Your Own Parts 225
The Baseplate 226
The Gear 233
Summary 237
Chapter 9 Hacking LEGO IV: Add-on Electronics 239
Motors and Wheels 240
Motor Driver 240
Omni-Wheels 240
8-Channel Servo Controller 241
vi Hacking Your LEGO Mindstorms EV3 Kit

Hub-ee Wheels 242

Linear Actuator 242
Servo-Actuated Pneumatic Valve 243
Lighting Systems 244
RGB LED Modules 244
Light Strands 245
Sensors 246
Grove Sensor Adapter 246
dGPS 246
Proximity Sensor 247
Pixy and Pixy Adapter 248
Sensor Mux 249
Absolute IMU-ACG 250
dPressure Sensor 251
Thermal Infrared Sensor 252
NXT and Education Electronics 252
Pneumatics Add-On Set 252
NXT Light Sensor 253
NXT Temperature Sensor 253
NXT Sound Sensor 254
NXT Ultrasonic 255
Control Systems 255
Relay Driver 256
sBrick Control System 256
PlayStation Controller Interface 257
NXTBee Wireless Board 258
Summary 258
Chapter 10 Project: Flagpole Climber 259
Building the Flagpole Climber 260
Parts List 260
Building Steps 262
Programming the Pole Climber 288
Installing the Ultrasonic Sensor 289
Programming the Sensor 290
Swapping in the BrickPi 291
Raspberry Pi Quick Start 292
Adding the RPi and BrickPi 292
Parts List 294
Steps 294
Tip: Troubleshooting 301
Summary 302
Glossary 303

Index 307
 About the Author vii

About the Author

John Baichtal has written or edited more than a dozen books, including the award-winning
Cult of Lego (2011, No Starch Press), Make: LEGO and Arduino Projects (2012, Maker Media)
with Adam Wolf and Matthew Beckler, Robot Builder (2014, Que), and Basic Robot Building
with LEGO Mindstorms NXT 2.0 (2012, Que), as well as Building Your Own Drones (2015,
Que). His most recent book is Maker Pro (2014, Maker Media), a collection of essays and
interviews describing life as a professional maker. John lives in Minneapolis, Minnesota with
his wife and three children.

Dedication
This book is dedicated to my wife Elise, my kids Arden, Rosemary, and Jack, my mom Barbara, and to all
those who strive to make an item or platform work better for them by hacking it!

Acknowledgments
Thanks for the inspiration and assistance (in no particular order) to Miguel Valenzuela,
Pete McKenna, Steve Norris, Steven Anderson, MakerBeam, Jude Dornisch, SparkFun
Engineering, Adam Wolf, Michael Freiert, Sophi Kravitz, Christina Zhang, Lenore Edman,
Rick Kughen, Sean Michael Ragan, John Wilson, Susan Solarz, Akiba, Mark Frauenfelder,
Chris Berger, Michael Krumpus, Alex Dyba, Brian Jepson, Becca Steffen, Dave Bryan,
Actobotics, Mike Hord, Makeblock, Pat Arneson, Erin Kennedy, Mindsensors, Windell H.
Oskay, Johngineer, Matthew Beckler, Riley Harrison, David Lang, Trammell Hudson, Kristina
Durivage, AnnMarie Thomas, Pete Prodoehl, Bruce Shapiro, Alex Allmont, John Edgar Park,
and Dexter Industries. Apologies to anyone I forgot!
viii Hacking Your LEGO Mindstorms EV3 Kit

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This page intentionally left blank
 3
Hacking LEGO I: Connections
Mindstorms’ components consist of modules linked together. The motors connect to the
Intelligent Brick but not directly—they use wires to link the power and data of both modules
together. Those linkages are themselves fascinating. This chapter explores what’s up with those
Mindstorms wires and demonstrates how to hack them into different configurations. Then, I
describe some of the common methods Mindstorms hackers employ to control and connect
components without using wires.

Mindstorms Wires Explained

Let’s begin by exploring all the nitty-gritty details of the standard Mindstorms wire. LEGO uses
semiproprietary wires in its Mindstorms variants. I call them semiproprietary because they’re
just a standard configuration (known in the business as RJ12) but with the tab off to one side,
as shown in Figure 3.1. You literally could use RJ12s if those tabs were off-center. Since LEGO has
seen fit to do it this way, however, we have to use our creativity to overcome this inconvenience.
First, however, let’s check out what you get in the EV3 set:
■ Four—250mm/10-inch
■ Two—350mm/13.75-inch
■ One—500mm/20-inch
So to recap, the EV3 set includes four short cords, one long cord, and two in the middle. The
cords can be swapped end-to-end and can be used with everything from motors to sensors.
They’re truly universal in the Mindstorms world, meaning you only have to worry about length
when you grab a wire.
52 CHAPTER 3: Hacking LEGO I: Connections

FIGURE 3.1 Mindstorms cables’ off-center tabs are all that differentiate them
from RJ12s.
Not surprisingly, these three sizes aren’t good for everyone, so some established suppliers
have come up with different wire sets:
■ HiTechnic’s NXT Extended Connector Cable Set (P/M NWS1000) includes six cables,
ranging in length from 120mm (4.7-inch) to 900mm (35.4-inch). You can buy the set
at hitechnic.com.
■ Mindsensors’ Flexi-Cable pack (P/N FLEX-Nx) includes four cables: 200mm, 350mm,
and 500mm just like regular LEGO cables. However, Mindsensors’ cables have thinner
and more flexible insulation, allowing them to move around and bend more readily than
LEGO’s stiffer wires. You can buy the Flexi-Cables at mindsensors.com.

Inside the Mindstorms Wire

So, what’s going on inside that black plastic insulation? It turns out there are six smaller
wires inside, as shown in Figure 3.2.
 Mindstorms Wires Explained 53

1. The blue wire is the SDA (serial data) wire, one-half of a two-wire data transfer protocol
called I^2C. EV3 can transmit sensor data and commands through the I^2C bus.
2. Yellow is the SCL (serial clock) wire, the other half of the protocol.
3. Green is power, typically delivering either 3.3 or 5V from the EV3’s battery pack. You can
use this wire to power electronic circuitry and add-on modules.
4. Red is ground. Creating a circuit with the power pin and this ground yields 5V.
5. Black is also ground. A circuit with this ground and the power pin yields 3.3V.
6. White is analog, transmitting analog sensor signals back to the EV3 Intelligent Brick.
Knowing the purpose of each wire helps you hack them, and it never hurts to understand
what’s going on under the insulation.

I^2 C Data
I^2 C Clock
Power
Gnd
Gnd
Analog

FIGURE 3.2 The Mindstorms wire actually consists of six smaller wires.

Hacking Mindstorms Wires

Not unexpectedly, LEGO hackers have explored the wires and created their own variants
to suit the needs of their projects. The following are a sampling of techniques you could
employ.

Changing the Length of a Mindstorms Wire

This is an obvious one. How do you change the length of a Mindstorms wire? The following
takes you through the steps, with Figure 3.3 guiding you along the process.
1. Make a shorter wire: Cut the plug off one end, making sure to leave yourself a couple
of inches of wire, and trim the remaining length down to the size you want. To make
a longer wire, cut an end off two wires, so that their combined length equals the size
you want.
2. Carefully remove the outer black insulation and pull apart the six inner wires.
3. Solder together each wire to its same-colored mate on the other side. (If you need to
polish up your soldering skills, there’s a helpful how-to here: http://mightyohm.com/
files/soldercomic/FullSolderComic_EN.pdf.)
4. Insulate the individual wires with heat-shrink tubing, such as SparkFun P/N 9353. Then
the combined wires should get a larger piece of tubing to keep them in check.
54 CHAPTER 3: Hacking LEGO I: Connections

FIGURE 3.3 To alter a Mindstorms wire, just cut it apart and solder it back
together.

Using a Breakout Board

Another way to access the inner workings of a Mindstorms wire is to use a breakout board.
These are little circuit boards with Mindstorms-compatible plugs on them, allowing you to
break out the six inner wires as separate pins.
A couple of variants are floating around; I like the Bricktronics Breakout Board, selling for
only $4 from wayneandlayne.com. In Figure 3.4 I demonstrate how to light up an LED,
connecting from the power pin to the red ground (5V) with a 470-ohm resistor protecting
the LED from too much voltage.

FIGURE 3.4 To access the inner wires individually, use a breakout board.
 Mindstorms Wires Explained 55

Breadboard-to-PF Hybrid Wire

PF refers to Power Functions, a mostly compatible motorized set put out by LEGO and
marketed alongside Mindstorms. In fact, the beams and other building elements in the EV3
set are identical to the parts sold with PF sets, making the two remarkably compatible.
Not completely, however, because there is no way to control PF’s awesome DC motors
using your EV3 brick. Two of PF’s four wires are 9V and GND, and the other two control
the speed of the motor.
You still need a way to trigger the voltage—the 9V the Power Functions motors are
expecting is more than the EV3 brick can handle. In Chapter 5, “Hacking LEGO II: Alternate
Microcontrollers,” I show you how to use an Arduino microcontroller that not only can
control those great PF motors, but also Mindstorms servos as well.
In the meantime, here’s how to make your own hybrid wire:
1. Cut off one end of a Power Functions extension cable (LEGO P/N 8886). It has a male
end and a female end, with the male end looking like a regular 2x2 LEGO brick, and the
female end looking like the underside of a similar brick, allowing you to attach them
together just like they were regular bricks.
2. Strip the four individual wires on the female end. They consist of Power, Control 1,
Control 2, and Ground. Solder each wire to a male header pin (SparkFun P/N 12693) or
a Molex plug like you see in Figure 3.5, which you can crimp on yourself, or buy a pigtail
such as the SparkFun P/N 9920. Use heat shrink to cover all conductive surfaces.
56 CHAPTER 3: Hacking LEGO I: Connections

FIGURE 3.5 A cable that connects LEGO’s proprietary PF connector to a

breadboard.

Exploring Wireless Options

Mindstorms wires are a given—but what about wireless communication? The EV3 kit comes
with two ways to communicate wirelessly with your Intelligent Brick.

Infrared Sensor and Beacon

The EV3 set includes a dirt-simple infrared remote (IR) control and receiver that allow
you to control two motors on your model, both forward and backward (see Figure 3.6).
In addition, you can opt between two channels, so theoretically you could control four
motors with two remotes and two receivers. Another option would be to have four motors
connected to your robot—for instance, two for propulsion and two to control a robot arm—
and you simply switch channels when you want to do one task or the other.
 Exploring Wireless Options 57

The sensor has one added feature that most IR receivers lack: It can be used as a proximity
sensor, beaming out infrared light and sensing as it bounces back. This feature has a
short range compared to other proximity sensors (for example, ultrasonic), and can detect
proximity only within 50cm to 70cm, or around 2 to 3 inches.
The beacon is what LEGO calls its remote control, and this is not just for fun: One of the
projects described in the EV3 set is an IR-homing robot that wanders around until it senses
the infrared signal from the beacon and rolls toward it. The controller’s range is only about
2 meters, unfortunately.

FIGURE 3.6 The infrared sensor and beacon give you simple wireless control of
your robot.

Bluetooth
Another intriguing option is the EV3 brick’s Bluetooth capabilities. The Intelligent Brick
has a Bluetooth chip on-board, allowing it to connect to other EV3 bricks as well as take
commands from smartphones using an application called the Commander, which includes
preset control configurations for the five sample robots that are part of the EV3 set (see
Figure 3.7). You can also create an interface for a custom robot, pulling out sliders and
buttons from a library to match what you’re building.
EV3’s Bluetooth capability also allows you to control the Intelligent Brick from your PC or
Mac wirelessly, just as if you had it plugged in with a Bluetooth cable.
58 CHAPTER 3: Hacking LEGO I: Connections

Finally, one cool aspect of the robot, both in terms of Bluetooth and regular wiring, is you
can link up to four EV3 bricks together if you want to build a gloriously complicated robot.

FIGURE 3.7 LEGO’s Bluetooth app allows you to control robots wirelessly.

Hacking Wireless
It almost goes without saying that Mindstorms fans have figured out how to control their
robots in ways not officially supported by LEGO. Here are just a few ways to wirelessly
control your Mindstorms robot.

XBee
A common hobbyist and professional wireless specification is called Zigbee, and XBee is a
brand of wireless modules built to that spec. Dexter Industries (dexterindustries.com) sells a
 Exploring Wireless Options 59

Mindstorms-compatible XBee breakout called the NXTBee, though I’m not sure whether it’s
compatible with EV3 yet. Another technique is to ditch the EV3 brick altogether and use an
Arduino: Check out the cool LEGO bracer shown in Figure 3.8. It has an Arduino, battery
pack, XBee, and Wii nunchuk, allowing me to operate a robot with a wearable controller.
SparkFun sells XBee radios (P/N 8665) as well as its own flavor of breakout board.

FIGURE 3.8 This wireless controller combines LEGO, Wii, and Arduino.

Radio Control
Normal radio control (RC) technology doesn’t mesh well with Mindstorms, but it can
be made to work. RC flight electronics consist (in their most basic configuration) of a
radio, shown in Figure 3.9, as well as a receiver. The receiver interprets the data from the
transmitter and triggers pins that tell the motors what to do. Not surprisingly, those same
pins can trigger Arduino actions or could be used to bump Mindstorms touch sensors with
a servo.
60 CHAPTER 3: Hacking LEGO I: Connections

FIGURE 3.9 An RC transmitter and receiver can control Mindstorms models.

PlayStation Controller
Mindsensors.com and a couple of other places sell a wireless controller that consists of
a PlayStation 2 (PS2) interface card that plugs into the EV3 Intelligent Brick—onto which
a wired PS2 controller may connect (see Figure 3.10). Mindsensors also sells a 2.4Ghz
wireless PS2 controller and a matching dongle that plugs into that interface card, allowing
you to wirelessly control your robot.
 Exploring Wireless Options 61

FIGURE 3.10 Mindsensors’ PS2 adapter lets you control your model with a game
controller.

Wi-Fi Dongle in EV3

There is no native Wi-Fi capability in EV3 bricks, but you can add it with a USB dongle,
such as the NetGear WNA1100 shown in Figure 3.11. As a matter of fact, the WNA1100
is currently the only wireless dongle that the EV3 works with out of the box. It may be that
other models can be made to work with the EV3, but so far just this one works.

FIGURE 3.11 The NetGear WNA1100 is the only Wi-Fi dongle that works with
the EV3.
62 CHAPTER 3: Hacking LEGO I: Connections

BrickPi and a Wi-Fi Module

Here’s another example of a Wi-Fi add-on module allowing wireless communication of a
Mindstorms robot. The BrickPi shield allows you to control Mindstorms by doing away with
the EV3 brick and using a Raspberry Pi minicomputer, with the BrickPi mounted on top (see
Figure 3.12). A Wi-Fi module from Adafruit (P/N 814) provides connectivity, though the Pi’s
built-in Ethernet port is always an option.

FIGURE 3.12 The BrickPi shield helps control Mindstorms robots.

Summary
This chapter is all about connections: hacking Mindstorms wires and playing around
with wireless options such as infrared, radio control, and Wi-Fi. In Chapter 4, “Project:
Remote-Controlled Crane,” you put this knowledge to good use, making a rolling crane that
responds to a variety of wireless control methods.
This page intentionally left blank
Index
Symbols B breakout boards, 54
BrickPi
3D printers, 170-174 backlights, 239
installing, 292-294, 297-301
5x3 bricks, 157-158 Ball Contraption project, 177
mounting plates, 169-170
8-channel servo controller, 241 building instructions, 179-223
shield, 62, 110
80/20 interface, 173 creating bricks, 225
Book Reader project,
baseplate, 226-232 114-115
A gear, 233-237 bricks, creating, 157-158
absolute IMU-ACG (accelerom- parts list, 178-179 Ball Contraption project, 225
eter), 250-251 programming instructions, baseplate, 226-232
accelerometers, 250-251 224-225
gear, 233-237
alternatives to EV3. See controllers Ball Counting Robot project,
designing parts, 158
aluminum bricks, 166-167 117-118
dimensions, 159
Arduino baseplate, creating (Ball
Contraption project), 226-232 output and iteration stages,
Ball Counting Robot project, 161
117-118 BeagleBone Black (BBB)
software for design files,
Bricktronics shield, 107-108 components of, 110-111
160
components of, 106-107 EVB cape, 112
finding designs, 161-164
Mini Tank project, 115-116 Gyro Boy project, 119-120
parametric 3D models, 175
resources for information, beams, curved, 161-162
tools for output, 164
151-152 black wires, 53
3D printers, 170-174
Robot Flower project, 150-155 blue wires, 53
CNC mills, 164-167
building instructions, 153 Bluetooth controls
laser cutters, 167-170
parts list, 152 explained, 57-58
Brickstuff
programming instructions, Remote-Controlled Crane
light strands, 245
154-155 project, 98-103
proximity sensor, 247-248
Arduino-to-LEGO interface pieces, Book Reader project, 114-115
169 Bricktronics, 240
breadboard-to-PF hybrid wires,
55-56 shield, 3, 107-108
Mini Tank project, 115-116
308 Budel, Tristram

Budel, Tristram, 166-167 Wi-Fi dongles, 61 reasons for using EV3 alter-
building instructions XBee modules, 58-59 natives, 112-114
Ball Contraption project, wires relay drivers, 256
179-223 breadboard-to-PF hybrid Rolling Alarm Robot
Flagpole Climber project, wires, 55-56 project, 118-119
262-287 breakout boards, 54 sBrick, 256-257
Plotter Bot project, 9-43 changing length of, XBee modules, 258
Raspberry Pi and BrickPi 53-54 crane project. See Remote-
installation, 294-298 components of, 52-53 Controlled Crane project
Remote-Controlled Crane length of, 51-52 Creative Robotics, Hub-ee
project, 65-92 controllers, 105 wheels, 242
Robot Flower project, Arduino curved beams, 161-162
125-146 Customizable Technic Hub,
Bricktronics shield,
Arduino version, 153 107-108 175
components of, 106-107
C resources for informa-
D
C programming language, tion, 151-152 dCompass module, 3-4
RobotC, 121 Robot Flower project, designing bricks, 158
cables. See wires 150-155 dimensions, 159
Cailliau, Robert, 159 Ball Counting Robot finding designs, 161-164
project, 117-118
cameras, Pixy, 248-249 output and iteration stages,
BeagleBone Black 161
capes, 111
components of, 110-111
Cartesian coordinates, 43-44 parametric 3D models, 175
EVB cape, 112
changing wire length, 53-54 software for design files,
Book Reader project, 160
Chocolate Milk Maker project, 114-115
116-117 tools for output, 164
Chocolate Milk Maker
Chronodot, 113-114 3D printers, 170-174
project, 116-117
CNC (computer-numerically Gyro Boy project, 119-120 CNC mills, 164-167
controlled) mills, 164-167 laser cutters, 167-170
Mini Tank project, 115-116
Commander app, 57 Dexter Industries
PlayStation controller
Remote-Controlled Crane interface, 257 BrickPi installation, 292
project, 98-103
programming environ- dGPS, 246-247
connections ments, 120 dLights, 244-245
wireless LeJos, 121 dPressure, 251
Bluetooth controls, Monobrick, 121 NXTBee, 58
57-58
RobotC, 121 thermal infrared sensor, 252
BrickPi shield, 62 Raspberry Pi, 291 XBee modules, 258
IR (infrared) controls, BrickPi shield, 110
56-57 dGPS sensor, 246-247
components of, 108-109 dimensions, designing bricks,
PlayStation controllers,
60-61 installing, 292-294, 159
297-301
RC (radio control) dLights, 244-245
technology, 59-60 instructional overview,
292
 Makeblock Constructor 309

dPressure sensor, 251 Grove Sensor Adapter, 246 Universal Connector Kit,
drawing pens. See Plotter Bot Gyro Boy project, 119-120 172
project IR (infrared) controls.
H See infrared (IR)
E hacking suggestions
controls
iteration stage (designing
ecosystems for hardware and Plotter Bot project, 49 bricks), 161
code, 113
wireless controls
Education set. See LEGO
Education
BrickPi shield, 62 J-L
PlayStation controllers, Janssen, Jorg, 157
education usage, 113
60-61 Java, LeJos programming envi-
EV3, alternatives to.
RC (radio control) tech- ronment, 121
See controllers
nology, 59-60
EVB cape, 112
Wi-Fi dongles, 61 Klann linkage, 165-166
Gyro Boy project, 119-120
XBee wireless modules,
58-59
F wires
laser cutters, 167-170
finding brick designs, 161-164 LazerStorm mounting plates,
breadboard-to-PF hybrid 168
Flagpole Climber project, wires, 55-56
259-260 LDraw, 163
breakout boards, 54
building instructions, LEGO bricks. See bricks,
changing length of, creating
262-287 53-54
installing ultrasonic sensor, LEGO Education, 252
HiTechnic NXT Extended
289 Connector Cable Set, 52 NXT temperature sensor,
parts list, 260-261 253-254
Hub-ee wheels, 242
programming instructions, pneumatics add-on set,
288 I 252-253
programming ultrasonic LeJos, 121
infrared (IR) controls
sensor, 290-291 length of wires
Remote-Controlled Crane
Raspberry Pi and BrickPi changing, 53-54
project, 98
installation, 292-301 standard lengths, 51-52
sensors and beacons, 56-57
troubleshooting, 301 libraries, 107
Inkscape, 160
Flexi-Cables, 52 lighting
installing
Flower project. See Robot backlights, 239
Flower project BrickPi, 292-301
Brickstuff light strands, 245
Raspberry Pi, 292-301
G ultrasonic sensor (Flagpole
NXT light sensor, 253
Climber project), 289 RGB LED modules, 244-245
gear, creating (Ball
Contraption project), interface pieces linear actuators, 242-243
233-237 80/20 interface, 173 Linux, 112
GoPro camera mount, 171-172 Arduino-to-LEGO pieces,
green wires, 53 169 M
PlayStation controller inter- Makeblock building set, 4
face, 257 Makeblock Constructor, 170
310 McFarlan, Stuart

McFarlan, Stuart, 169

mechanum (omni) wheels,
N pens, drawing. See Plotter Bot
project
174, 240-241 NetGear WNA1100 dongle, 61 PF (Power Functions), bread-
Medwin, Steve, 161-162, 175 NXT, 252 board-to-PF hybrid wires,
light sensor, 253 55-56
Meno, Joe, 239
sound sensor, 254 Pi. See Raspberry Pi
microcomputers. See control-
lers temperature sensor, 253- Pixy camera, 248-249
Mindsensors 254 PlayStation controllers, 60-61
8-channel servo controller, ultrasonic sensor, 255 interface for, 257
241 Flagpole Climber proj- Plotter Bot project, 7
absolute IMU-ACG (acceler- ect, 289-291 building instructions, 9-43
ometer), 250 NXT Extended Connector parts list, 8-9
Flexi-Cables, 52 Cable Set, 52
programming instructions,
Grove Sensor Adapter, 246 NXTBee, 59 43-44
mux (multiplexer), 249 hacking suggestions, 49
Pixy camera, 248
O motor movement, 44-47
PlayStation controller inter- omni wheels, 174, 240-241 resetting X axis, 47-48
face, 257 output stage (designing pneumatics
relay driver, 256 bricks), 161
dPressure sensor, 251
servo-actuated pneumatic outputting bricks, tools for,
LEGO add-on set, 252-253
valve, 243 164
servo-actuated pneumatic
Mini Tank project, 115-116 3D printers, 170-174
valves,
Monobrick, 121 CNC mills, 164-167 243-244
Motor Driver, 240 laser cutters, 167-170 printers, 3D, 170-174
motors programming environments,
8-channel servo controller,
P-Q 120
241 parametric 3D models, 175 LeJos, 121
Hub-ee wheels, 242 parts, creating. See bricks, cre- Monobrick, 121
linear actuators, 242-243 ating RobotC, 121
Motor Driver, 240 parts list programming instructions
moving (Plotter Bot proj- Ball Contraption project, Ball Contraption project,
ect), 44-47 178-179 224-225
pneumatics add-on set, 253 Flagpole Climber project, Flagpole Climber project,
260-261 288
servo-actuated pneumatic
valves, 243-244 Plotter Bot project, 8-9 ultrasonic sensor, 290-
stepper motors, 7 Raspberry Pi and BrickPi 291
installation, 294 Plotter Bot project, 43-44
mounting plates
Remote-Controlled Crane hacking suggestions, 49
BrickPi, 169-170 project, 64
LazerStorm, 168 motor movement, 44-47
Robot Flower project, 124-
moving motors (Plotter Bot 125 resetting X axis, 47-48
project), 44-47 Arduino version, 152 Raspberry Pi and BrickPi
mux (multiplexer), 249-250 installation, 298-301
 sensors 311

Remote-Controlled Crane Bluetooth controls, programming instructions,

project, 93-98 98-103 93-98
Robot Flower project, building instructions, resetting
146-149 65-92 X axis, 47-48
Arduino version, infrared (IR) controls, 98 Y axis, 47
154-155 parts list, 64 resources for information
projects programming instruc- about Arduino, 151-152
Ball Contraption, 177 tions, 93-98 RGB LED modules, 244-245
building instructions, Robot Flower, 123 RJ12 cables, 51
179-223 Arduino controller, RJ25 cables, 117-118
creating bricks, 225-237 150-155
Robot Flower project, 123
parts list, 178-179 building instructions,
Arduino controller, 150-155
programming instruc- 125-146
building instructions,
tions, 224-225 parts list, 124-125
153
Ball Counting Robot, programming instruc-
parts list, 152
117-118 tions, 146-149
programming instruc-
Book Reader, 114-115 Rolling Alarm Robot,
tions, 154-155
Chocolate Milk Maker, 118-119
building instructions,
116-117 proximity sensor, 247-248
125-146
Flagpole Climber, 259-260
building instructions, R parts list, 124-125
programming instructions,
262-287 radio control (RC) technology, 146-149
installing ultrasonic sen- 59-60
RobotC, 121
sor, 289 Raspberry Pi, 291
Rolling Alarm Robot project,
parts list, 260-261 Book Reader project, 114- 118-119
programming instruc- 115
Rotacaster, 240
tions, 288 BrickPi shield, 110
programming ultrasonic
sensor, 290-291
components of, 108-109 S
installing, 292-301
Raspberry Pi and BrickPi sBrick control system, 256-257
instructional overview, 292
installation, 292-301 sensors
Rolling Alarm Robot
troubleshooting, 301 absolute IMU-ACG (acceler-
project, 118-119
Gyro Boy, 119-120 ometer), 250-251
RC (radio control) technology,
Mini Tank, 115-116 dGPS, 246-247
59-60
Plotter Bot, 7 dPressure, 251
red wires, 53
building instructions, Grove Sensor Adapter, 246
relay drivers, 256
9-43 mux (multiplexer), 249-250
Remote-Controlled Crane
hacking suggestions, 49 project, 63 NXT light sensor, 253
parts list, 8-9 Bluetooth controls, 98-103 NXT sound sensor, 254
programming instruc- building instructions, 65-92 NXT temperature sensor,
tions, 43-48 253-254
infrared (IR) controls, 98
Remote-Controlled NXT ultrasonic sensor, 255
parts list, 64
Crane, 63 Flagpole Climber
project, 289-291
312 sensors

Pixy camera, 248-249 wireless controls. See also

proximity sensor, 247-248 Remote-Controlled Crane
project
thermal infrared sensor, 252
Bluetooth controls
servo mounting block, 173-174
explained, 57-58
servo-actuated pneumatic
valves, 243-244 Remote-Controlled
Crane project, 98-103
servos, 8-channel controller,
241 BrickPi shield, 62
SketchUp, 160, 163-164 IR (infrared) controls
software, designing bricks, 160 Remote-Controlled
Crane project, 98
soldering how-to information,
53 sensors and beacons,
56-57
sound sensor (NXT), 254
PlayStation controllers,
SparkFun BrickPi installation,
60-61
292
RC (radio control)
Steele, Shawn, 173
technology, 59-60
stepper motors, 7
Wi-Fi dongles, 61

T XBee modules, 58-59, 258

wires
temperature sensor (NXT),
breadboard-to-PF hybrid
253-254
wires, 55-56
thermal infrared sensor, 252
breakout boards, 54
Thingiverse, 157, 162
changing length of, 53-54
troubleshooting Flagpole
components of, 52-53
Climber project, 301
length of, 51-52
U-V WNA1100 dongle, 61
ultrasonic sensor (NXT), 255
X-Z
Flagpole Cllmber project,
289-291 X axis, 43-44
Universal Connector Kit, 172 resetting, 47-48
XBee modules, 58-59, 258
W
Warehouse (SketchUp), 163 Y axis, 43-44
Weller, Mark, 165 resetting, 47
wheels yellow wires, 53
Hub-ee wheels, 242
mechanum (omni) wheels, Zigbee wireless specification,
174, 240-241 58
white wires, 53
Wi-Fi dongles, 61