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Sortbot

Sortbot. E-Machine goes Lego. Introduction. Implementation of E-Machine and S-Machine Hardware: Lego Robotics Invention Software: RCX: brickOS Ver. 0.6.2.10 Programming Language: C++ Challange: Sorting lego bricks by colour. Sorting Lego Bricks. Hardware.

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Sortbot

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  1. Sortbot E-Machine goes Lego Trummer & Löffelberger ESE WS 04/05

  2. Introduction • Implementation of E-Machine and S-Machine • Hardware: Lego Robotics Invention • Software: RCX: brickOS Ver. 0.6.2.10 Programming Language: C++ • Challange: Sorting lego bricks by colour Trummer & Löffelberger ESE WS 04/05

  3. Sorting Lego Bricks Trummer & Löffelberger ESE WS 04/05

  4. Hardware • 2 conveyer bands (motor A and C) • 1 light sensor (sensor 3) • 1 touch sensor (sensor 2) • 1 RCX • 174 different lego parts -> assembled together = Sortbot Trummer & Löffelberger ESE WS 04/05

  5. Hardware Cont. Trummer & Löffelberger ESE WS 04/05

  6. Scheme Motor C Stop / change dir Clock E-Machine S-Machine L-Sensor T-Sensor Base frequenzy = 200 Hz Trummer & Löffelberger ESE WS 04/05

  7. E-Code and S-Code e00: if( halted, e05 ) e01: if( is_item, e08 ) e02: if( stop_c, e11 ) e03: future( 5, e00 ) e04: return s00: dispatch( halt_program[0] ) s01: dispatch( set_motor_c[0] ) e05: release( halt_program[5] ) s02: jump( s00 ) e06: future( 5, e00 ) s03: return e07: return e08: release( set_motor_c[500] ) e09: future( 5, e00 ) e10: return e11: release( set_motor_c[5] ) e12: future( 5, e00 ) e13: return Trummer & Löffelberger ESE WS 04/05

  8. Demo Enjoy the demo! Trummer & Löffelberger ESE WS 04/05

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