Standard Robot for Workshop 3D RCX Challenge 4
These are the building instructions for the Standard Robot Line
Tracking event at the Workshop3D RCX Challenge 4 in Seattle on April 13, 2002.
This robot design incorporates a number of suggestions that were made after the
Workshop3D RCX challenge 3. The Light Sensor position is still adjustable both
horizontally and vertically but is now shrouded so that it is not as affected by
the ambient light. Another new feature is that the robot has three wheel options.
RCX Motor Assembly
1
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Qty Color Description
1 Black Technic Brick 1 x 12 with Holes
4 Light-Gray Plate 1 x 2 with Door Rail
2 Light-Gray Plate 2 x 2
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2
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2 Light-Gray Electric Technic 9v Motor
2 Black Electric 12cm Wire
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Note on Motor Wires: Orient the wire connectors on the motors so that the wire goes
over the top of the back of the motor away from the axle. The plates in step 3 will
go over the wires.
3
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2 Black Technic Brick 1 x 4 with Holes
2 Black Technic Brick 1 x 16 with Holes
4 Black Technic Pin with Friction
1 Light-Gray Plate 1 x 8
1 Light-Gray Plate 1 x 10
1 Light-Gray Plate 2 x 10
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4
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Note on Motor Wires: The left motor (in the foreground) should be plugged
into output port A and the right motor into output port C. The wire connectors
should be oriented so that both motors go forward when the direction is set to
forward in the program.
Light Sensor and Front Castor Wheel Assembly
1
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2 Green Plate 2 x 8
1 Light-Gray Plate 1 x 4
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2
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2 Light-Gray Technic Plate 2 x 8 with Holes
1 Blue Electric Light Sensor
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3
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6 Black Brick 1 x 2
2 Black Brick 2 x 2
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4
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2 Black Technic Brick 1 x 4 with Holes
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5
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1 Light-Gray Plate 6 x 10
3 Light-Gray Plate 1 x 4
2 Black Technic Brick 1 x 4 with Holes
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6
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6 Light-Gray Plate 1 x 2
4 Black Technic Brick 1 x 2 with Hole
2 Black Technic Brick 1 x 4 with Holes
2 Light-Gray Technic Plate 2 x 6 with Holes
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7
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4 Black Technic Pin Long with Friction
8 Black Technic Pin with Friction
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8
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2 Black Technic Brick 1 x 4 with Holes
4 Light-Gray Plate 1 x 4
2 Black Technic Brick 1 x 8 with Holes
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9a
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2 Black Technic Axle 2
2 Light-Gray Technic Axle Joiner Perpendicular 3 Long
2 Light-Gray Technic Liftarm 1 x 3
1 Black Technic Axle 3
1 Black Technic Axle 6
2 Light-Gray Technic Bushing
1 Black Tire Small
1 Yellow Wheel Centre
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10
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2 Black Technic Brick 1 x 6 with Holes
1 Light-Gray Technic Bushing
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Note on Light Sensor Wire: After you attach the Light Sensor Assembly to the
RCX Motor Assembly, the Light Sensor wire should be plugged into input port 2.
Small Wheel Option
1
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2
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2 Black Wheel 30.4 x 14 VR with Tire
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Medium Wheel Option
1
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2 Black Technic Brick 1 x 6 with Holes
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2
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2 Black Tire 17 x 43
2 Yellow Wheel Centre
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Large Wheel Option
1
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2 Light-Gray Plate 1 x 6
2 Black Technic Brick 1 x 6 with Holes
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2
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2 Black Technic Axle 3
2 Light-Gray Technic Axle Joiner
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3
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2 Black Tire 49.6 x 28 VR
2 White Wheel 49.6 x 28 VR
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Note on Wheel Orientation: The large wheels should be oriented so that the tire is
as close as possible to the motors. When oriented correctly, the low profile side of
the tire will face out and the Axle Joiner will be almost completely hidden inside the
wheel.
Light Sensor Vertical Adjustment
To adjust the vertical position of the light sensor, remove the two green
plates (along with the
gray 1x4 plate) from the back of the Light Sensor Assembly. The Light Sensor
can now be positioned as desired. The bottom-most possible position is
defined position 0. To specify the position indicate the number of Lego
Units that the sensor should be moved up from position 0.
Here are some examples:
Postion 0
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| | Postion 7
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Light Sensor Horizontal Adjustment
To adjust the horizontal position of the light sensor, the entire Light Sensor
Assembly (along with the supporting beam and/or plate) is moved forward. The
back most possible position is defined as
horizontal position 0 and the forward most position is 7. Here are some
examples with the Small Wheel Option robot:
Postion 0
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| | Postion 1
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| | Postion 7
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Specifying the Robot Options
The three possibly options are specified as follows:
(Wheel Option, Horizontal:Horizontal Position, Vertical:Vertical Position).
The Wheel Option should be specified as Small, Medium, or Large.
Both Horizontal Position and Vertical Position are in the range from 0 to 7 and should be
proceded by the words Horizontal: and Vertical:.
For example:
(Small, Horizontal:0, Vertical:2) - indicates small wheel option,
the light sensor is in horizontal position 0 and vertical position 2.
Other notes about the robot
Because the RCX is mounted so close to the driving wheels and is above the
motors, it is quite easy to pop a wheelie. With the Large Wheel Option, it is
even possible to totally flip the robot over. You must handle this in your
program. One way to do this is to start in low power and then gradually
increase power.
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