Introduction to LEGO NXT robotics

and Robot Sumo for

CJ Chung
Associate Professor of Computer Science
Founder and Director of Robofest
Lawrence Technological University
This program is possible thanks to:

 a grant from Detroit Auto Dealers

Association (DADA) Charitable
Foundation Fund,
 which is a fund of the Community
Foundation for Southeast Michigan.

 For more details, check out a press

release at:
http://www.ltu.edu/news/detail.asp?ContentId=F43D8217-293D-480E-B657-54392CB1171A
Schedule

 First Workshop Day (3 hours)

 Second Workshop Day (3 hours)
 Third Workshop Day (2 hours)
 Meetings with your school staff/teachers
to improve your sumoBot (3 hours x 2
meetings suggested)
 Official Competition at your school to
select one team to advance to the World
Robofest Championship on April 26.
General public to be invited.
Workshop First Day (3 hours)

 Introduction to Robotics
 Introduction to Robofest and Robot Sumo
 Introduction to Lego NXT
 Introduction to NXTG
 Basic programs
 Motors

 Wait

 Turns
Introduction to Robotics

 What is a true robot?

 autonomous robot with an on board computer
 Mechanical, electrical, and computational
components
 Six fundamental components of a robot
A brain or brains – computer
 Body: physical chasses that holds other pieces

 Actuators: motors, hydraulic pistons, pneumatics

 Sensors

 Power sources

 Communication mechanism
What is Robofest?

 100% Autonomous
 Affordable
 Challenging: Unknown problem
 No direct adult help allowed during the
competition
 Qualifiers and a World Championship
 Various categories including Robot Sumo
 Two divisions:
 5th – 9th grade: Jr. Division
 9th – 12th grade: Sr. Division
RoboSumo
Push the other robot out of the Sumo ring
Specifications

Junior Division Senior Division

Sumo ring diameter 77 cm (30 inches) 122 cm (48 in)

Maximum robot
1kg (2.2 lbs) 2 kg (4.4 lbs)
mass
Maximum robot 30 cm (11.75
23 cm (9 inches)
width and length inches)
Maximum robot 30 cm (11.75
no limit
height inches)

Any;
Robot type Lego Mindstorms or NXT any
recommended.
Why Sumo?

 The most popular robot competition in

the world
 Integrator in Science Education – Math,
Logic, Computers, Mechanics, and
Physics
 Good for rookie teams
 Fun Motivator
Unknown Problem in Robofest Sumo

 How to start is unknown

 Need sensor(s)
 Teams must bring a computer to program
the unknown parts
Introduction to Lego NXT

 Brain – RCX micro computer

 Body: Lego Technic pieces
 Actuators: up to 3 motors
 Sensors: Light, touch, US, Sound, etc.
 Power source: 9V (six AA batteries or
rechargeable battery pack)
 Communication mechanism: USB or Blue
Tooth
Introduction to “SB2 (Sumo Bot 2)”

 Left motor: A
 Right motor: C
 Touch: 1
 Light: 3
 Ultra Sonic
(distance): 4
Introduction to NXTG Programming
 Please go through Getting Started and Software
Overview after this class
First NXT program: Go forward for 2 sec. and stop

 Let’s name the program

first
 Click on Go >> button
 You’ll see a
programming palette
(canvas)
First NXT program using SB1: Go forward for 2
sec. and stop (2/3)

 Click on Move button

 Drag and drop the move block to
the canvas
First NXT program using SB2: Go forward for 2
sec. and stop (3/3)

 Change parameters for the Move

Block
 Port
 Direction
 Steering
 Power
 Duration
 Next Action
Configuration Panel
How to run your first program (1/2)
How to run your 1st program (2/2)

 If “Found New Hardware” pops

up, just follow the instruction
 Click on “Download” button
 Recommended to un-plug the
cable from the Bot
 Press the orange button 4 times
(Turn on, My files, Software
files, Run your program entitled
go2stop)
How to rerun the program

 Check the program name on the LCD

 Press the orange button just once again
How to stop the program

 Gray button
First NXT Program: Go forward for 2 sec.
and stop (Review)
Do not forget:
 Save your programs
 Meaningful file (program) names
 Use comments
2nd Program: ForwardBack
 Go Forward 2 rotations
 Wait 3 seconds, then
 Backward 1 rotation
Go Forward 2 rotations, Wait 3 seconds then
Backward 1 rotation – ForwardBack
Making Turns

 Turn left
stop
Left wheel Right wheel

 Spin left

Left wheel Right wheel

 Face left
stop

Left wheel Right wheel

Turn90Left – Using a Motor Block!
 Forward 2 rotations,
 Turn Left 90 Degrees,
 and Forward 2 rotations
Forward 2 rotations, Turn Left 90 Degrees,
and Forward 2 rotations – Turn90Left
How do we make to turn 90 degrees?
 Timer?
 Trial errors
 Let’s do the math!!!
 Width of the robot: 14 cm
 Diameter of the wheel: 5.5 cm

 Perimeter of the wheel: 5.5 cm x pi = 17.27

Travel distance needed:

(14 x 2 x pi) / 4 = 21.98 cm

Number of rotations needed?

14 cm
21.98 / 17.27 = 1.2727
How about 180 degree turns using a motor
block?

 Forward 2 rotations,
 Turn Right 180 Degrees,
 and Forward 2 rotations

14 cm

What is the rotation value for the Motor Block?

1.27 x 2
“Spin” 180 degrees using Move/Steering

 Forward 1 rotation,
 Spin right 180 degrees
 Forward 1 rotation

Travel distance needed:

(14 x pi) / 2 = 21.98 cm

14 cm

Number of rotations needed?

21.98 / 17.27 = 1.2727
Spin180right
Class Challenge: A Simple Maze

Start line

box

box

Place a business card as a target

point to reach
Online Resources

 www.ortop.org/NXT_Tutorial: a great
tutorial on how to program in NXTG
 nxtasy.org: with more information than
you could ever want about LEGO robots
and programming; a great place to ask
questions