If you are not clear about the drop-push action of the unfixed component, take a look at the below short video where I use finger to simulate the movement of black beam. In this way, there is only one color brick dropping out each time.

What is amazing here is that other following bricks are blocked by the unfixed component, so they still stay in the mounting slots. The color brick mentioned above is pushed outside and drops out. The black beam spins to upright position and pushes up the unfixed component. Very soon, the medium motor turns a certain degree again (below diagram, right side). The color brick queuing at the bottom will slide down to the original position of the unfixed component, but please note that it is not sliding down at this moment because a triangle connector blocks it. When mounting device needs to drop out one color brick, the program will make the medium motor turn a certain degree (below diagram, left side), so that the black beam turns to horizontal position, and the unfixed component drops down. When black beam is turned to a horizontal position, the unfixed component is dropped down a distance of one stub. Therefore, when black rubber beam turns to a certain degree (upright position), the unfixed component is pushed up. The unfixed component is put just on top of the black beam, but not fixed to any other blocks. When medium motor turns, the beam spins also. The Unfixed Componentįrom the below diagram, we could see that there is a black rubber beam connecting to the axis of the medium motor. Last but not the least, there is an unfixed component which will decide the mounting and dismounting of color bricks. Some parts are used to fix tread link into the base of the device, so that the mounting device will move together with the tread link stably. Some are used to tilt the medium motor, so that the color blocks could slide down by gravity.

If you take a look at the step-by-step instruction, there are lots of small parts, connectors used in this unit. Personally, I feel that mounting device is the most complex in this model. They provide support for the whole conveyor belt structure. Other three sprocket wheels are passive wheels which are driven alone by tread link, but they are not useless. There are four sprocket wheels distributed in a line. Connect to Tread Linkīig motor drives the knob wheels and changes the direction of transmission and drives one of the sprocket wheels. Since driving the sprocket wheels and the whole tread links and mounting device requires high torque, I would say it is more appropriate to use knob wheels, instead of other bigger but more fragile gears. Meanwhile, their advantages are that they are much stronger than gears and can handle significantly higher torque. Knob wheels are not gears, but they can mesh with other knob wheels just like bevel gears. The axis of the big motor is connected to one of the knob wheels. It is not supposed to be used by player, but used to set the mounting device to an initial position. The touch sensor is fixed onto a proper position. We have two classes this time: The Main-class and the ColorRecognizerThread-class.This part consists of one big motor as the output power and a touch sensor. If you preffer working with inches, just select 'Distance Inches' instead.

Then we choose 'Compare' and then 'Distance Centimeters'. Once the sensor is in the right mode we only need to call colorSensor.getColorID to get the detected color. LEGO MINDSTORMS, LEGO MINDSTORMS EV3 Learn At Home, Ultrasonic Sensor, Classes with students, Sensors, Programming, EV3, STEM Body From the drop down menu of the wait block we select Ultrasonic Sensor. It represents the total brick number currently mounted already.

To detect different colors we need the color sensor's colorIDMode. Display Color Block Information on Screen At the beginning of the segment 2, the program clears the brick screen and then shows the length of the list A on the screen. There is a mode for every task a sensor can execute. The infrared sensor for example had modes to detect signals of an infrared source or to detect objects and their distance to the robot. Like the infrared sensor the color sensor has different modes for different tasks.

Lego midstorm color sensor coding ev3