LEGO 101: A Multi-Disciplinary Team Project for CS, CoE, and EE Freshmen

Dr. Deborah J. Hwang Director, Computer Science Program Associate Professor of Computer Science Department of Electrical Engineering and Computer Science KC-264, (812) 479-2193, hwang@evansville.edu http://csserver.evansville.edu/~hwang Dr. Dick K. Blandford Chair, Department of Electrical Engineering and Computer Science Associate Professor of Electrical Engineering KC-266A, (812) 479-2291, blandfor@evansville.edu http://csserver.evansville.edu/~blandfor Mr. David Mitchell Associate Professor of Electrical Engineering Department of Electrical Engineering and Computer Science KC-274, (812) 479-2330, dm2@evansville.edu Mr. Mark Randall Staff Engineer Department of Electrical Engineering and Computer Science KC-140, (812) 479-2498, mr63@evansville.edu Dr. Anthony Richardson Assistant Professor of Electrical Engineering Department of Electrical Engineering and Computer Science KC-261, (812) 479-2250, richardson@evansville.edu http://csserver.evansville.edu/~richardson Dr. Don Roberts Assistant Professor of Computer Science Department of Electrical Engineering and Computer Science KC-276, (812) 479-2662, roberts@refactory.com http://csserver.evansville.edu/~droberts

Gallery of LEGO teams and vehicles

• Fall 2003 IR Beacon-finding teams and vehicles
• Fall 2003 IR Beacon-finding tournament
• Fall 2002 IR Beacon-finding teams and vehicles
• Fall 2002 IR Beacon-finding tournament
• Fall 2001 IR Beacon-finding teams and vehicles
• Fall 2001 IR Beacon-finding tournament
• Fall 2000 Predator/Prey teams and vehicles

Current Courses

Fall 2003 ENGR/CS 101

• Competition Results
• Competition Rules (MS Word file)
• Robotics Library (Version 5 for board Version 8 - corrected ReadInputPort to return 1 on close rather than non-zero)
  • Download: Robotics library header file: robotics8d.h
  • Download: Robotics library source file: robotics8d.c
• Eye Board Schematic: Sensor.bmp
• Eye Board Picture layout: EyeBd.bmp
• Line-following Board Picture layout: LineBd.bmp
• Lego Board Version 8 Schematic: LegoV8.bmp
• Lego Board Version 8 Picture layout: LegoV8Pic.bmp
• Note Book Notes: NtBkNotes.pdf or NtBkNotes.doc
• Electrical Engineering Session Notes
• Computer Science Session Notes
• Computer Engineering Session Notes
• Current Events Report Assignment: CurrEvRpt.pdf or CurrEvRpt.doc
• Team Assignments: TeamAsn.pdf or TeamAsn.doc

Other links of interest

• Download: Keil C compiler called uvision2.
• Download: Philips Windows In System Programmer (WINISP) used to download programs into controller board.
• A C language tutorial from the Gray Cancer Institute
• Hyperterminal program to allow a PC to read A to D converter output from controller board: HyperTerm.zip. (ZIP file contains the C source code and Keil C project file as well as a pre-compiled HEX file.)
• A C program for the LCD port: SLCDTst2.c
  

Resources for LEGO robotics

Courses and papers

• Our 2001 ASEE Annual Conference paper, LEGO 101: A Multidisciplinary Freshman Team Experience (PDF).
• Our 2000 ASEE Annual Conference paper, A Multidisciplinary Team Project for Electrical Engineering, Computer Engineering, and Computer Science Majors (PDF).
• MIT 6.270 Autonomous Robot Design Competition
• Genalo, L., et al., Toying with Technology: Mobile Robots and High School Interns (PDF)
• Wellesley College Robotic Design Studio
• Bryn Mawr College and Swarthmore College Artificial Intelligence Robot Building Lab
• Case-Western Reserve University Autonomous LEGO Robotics
• University of Southern California Introduction to Robotics
• Martin, F., Art of LEGO Design (PDF)

Hardware

• The current controller board is Version 7. Here is a circuit diagram in BMP format
• Here is a circuit diagram in PDF format or MS Word format of Version 6 of the controller board. Here is a description of the addressing in PDF format or MS Word format
• Lego4Descr.pdf - Description of version 4 of the UE controller board, including a system diagram, a circuit diagram, and a complete parts list.
• Express PCB. Circuit board layout and fabrication company. Lego4PCB.zip contains a text file with instructions on how to access the Express PCB system and the actual circuit board file we used for version 4.
• Philips Semiconductor. Specifications of the current controller board CPU.
• Dallas Semiconductor. Specifications for the previous controller board CPU.

• PITSCO/LEGO Dacta, educational division of LEGO. However, it may be easier to call 1-800-362-4308 and ask for a catalog.
• Gleason Research sells the MIT Handy Board.
• KISS Institute for Practical Robotics sells a combined LEGO and MIT Handy Board kit.

Software

• Keil C compiler called uvision2.
• Philips Windows In System Programmer (WINISP) used to download programs into controller board.
• Current Robotics Library (Version 5 for board Version 8 - corrected ReadInputPort to return 1 on close rather than non-zero)
  • Download: Robotics library header file: robotics8d.h
  • Download: Robotics library source file: robotics8d.c

Previous course handouts

Summer 2003 OPTIONS

• Basic C Programming notes based on the robotics library
• Keil C Programming notes, a tutorial on using the student version Keil C compiler uvision2 and Philips' WINISP to program the UE controller board.
• Robotics Library (OPTIONS Version for board Version 7 - delay, motor controller, A to D, and sound routines only
  • Download: Robotics library header file: robotics7opt.h
  • Download: Robotics library source file: robotics7opt.c

Fall 2002 ENGR/CS 101

• Tournament Results.
• Robotics Library (Version 1a for board Version 7 - corrected motor controller routines)
  • Download: Robotics library header file: robotics7a.h
  • Download: Robotics library as a library file: robotics7a.lib
  • Download: Robotics library source file: robotics7a.c
• Final notebooks, peer review forms, clean-up, and return parts, Due: December 9. We will also take team pictures.
• Tournament Schedule
  • Preliminary rounds: December 2 & 4
  • Final rounds: December 6 & 9
• Notebook inspection: November 13
• Peer Review Form, Due: October 31 : PDF format or MS Word format
• Assignment 3, Due: November 1: PDF format or MS Word format
• Notebook inspection: October 25
• Assignment 2, Due: October 25: PDF format or MS Word format
• Assignment 1, Due: October 18: PDF format or MS Word format
• Keil C Programming Notes, a tutorial on how to use Keil C and a description of the robotics library. The example program: example.c
• Basic C Programming Using Robotics Library, a short primer on how to write C programs with examples using the robotics library
• Martin, F., Art of LEGO Design, a PDF paper on LEGO construction
• Lego Controller board 7 schematic
• Note book contents: PDF format or MS Word format
• Areas of responsibility for teams: PDF format or MS Word format
• Contest rules: PDF format or MS Word format
• Team assignments: PDF format or MS Word format

Summer 2002 OPTIONS

• Basic C Programming notes based on the robotics library
• Keil C Programming notes, a tutorial on using the student version Keil C compiler uvision2 and Philips' WINISP to program the UE controller board. Example program files from tutorial:
  • example.c
  • atodtest.c
• Robotics Library (Version 3 for board Version 6) - uses motor port LSB to power the beacon sensor.
  • Download: Robotics library header file: robotics6b.h
  • Download: Robotics library source file: robotics6b.c

Fall 2001 ENGR/CS 101

• Tournament pairings & Final results
• Schedule for the rest of term:
  • Friday, November 16: Notebooks collected
  • Monday, November 19: Preliminary testing
  • Friday, November 30: Tournament
  • Monday, December 3: Pictures and clean-up, Final notebooks collected
• Martin, F., Art of LEGO Design, a PDF paper on LEGO construction
• Lego Controller board V6: PDF format or MS Word format
• Lego 6 addressing: PDF format or MS Word format
• Assignment 1: PDF format or MS Word format, Due: October 12
• Robotics Library (Version 2 for board Version 6)
  • Download: Robotics library header file: robotics6a.h
  • Download: Robotics library source file: robotics6a.c
  • Download: Robotics library as a library file: robotics6a.lib
• Keil C Programming Notes, a tutorial on how to use Keil C and a description of the robotics library. The example program: example.c
• Basic C Programming Using Robotics Library, a short primer on how to write C programs with examples using the robotics library
• Note book contents: PDF format or MS Word format
• Areas of responsibility for teams: PDF format or MS Word format
• Contest rules: PDF format or MS Word format
• Team assignments: PDF format or MS Word format

Summer 2001 OPTIONS

• Basic C Programming notes based on the robotics library
• Keil C Programming notes, a tutorial on using the student version Keil C compiler uvision2 and Philips' WINISP to program the UE controller board.
• Example program file from tutorial: example.c

• Robotics basic library header file (Version 6): robotics6basic.h (true pulse width modulation motor control, new serial display)
• Robotics basic library source file (Version 6): robotics6basic.c
• Robotics rear differential steering library header file (Version 6): robotics6reardiff.h
• Robotics rear differential steering library source file (Version 6): robotics6reardiff.c

Fall 2000 ENGR/CS 101

• "Official" RESULTS of the contest competition
• Assignment 4: Integrated sensors and control PDF format or MS Word format
• LEGO controller board Version 5 circuit diagram PDF format or MS Word format
• Paper: Martin, F., Art of LEGO Design (PDF)
• Assignment 3: Light sensors PDF format or MS Word format
• Assignment 2: Bump switches PDF format or MS Word format
• Assignment 1: Sound and motors PDF format or MS Word format
• LEGO project contest rules and team roles: PDF format or MS Word format
• Team assignments: PDF format or MS Word format
• Programming Notes, a tutorial on how to use Keil C and a description of the robotics library
• Basic C Programming, a short primer on how to write C programs (with examples using the robotics library)

• Robotics library header file (Version 4 Basic): robotics4basic.h (new pulse-width modulation speed control)
• Robotics library source file (Version 4 Basic): robotics4basic.c
• Robotics library header file (Version 3): robotics3.h
• Robotics library source file (Version 3): robotics3.c
• Download: Keil C compiler called uvision2.
• Download: Philips Windows In System Programmer (WINISP v2.17) used to download programs into controller board.

Summer 2000 OPTIONS

• Keil C notes, a tutorial on using the new student version Keil C compiler uvision2 and Philips' WINISP to program the UE controller board.
• Basic C Programming notes
• Example program

Fall 1999 ENGR/CS 101 Pilot Project

• Syllabus
• Keil C notes, a tutorial on using the old student version Keil C compiler uvision and the Dallas programmer (kit5k.exe) to program the older UE controller board.
• Basic C Programming notes, also some description of the robotics API library.
• Basic C Programming notes, Part 2
• Final Project Assignment