PARTS LIST LEGO DIGITAL DESIGNER CODE
The code has some rudimentary error handling (i.e. There are guidance notes in the code itself with regards the functions of the buttons on the EV3 and the correct cabling of the motors. The code I’ve attached here demonstrates sequences of actions which move the arm between a number of pre-defined positions – it’s a sort of a finite-state machine in that respect. The elbow sensor could probably detect “how raised” the arm is, but I’ve found it only reliable enough to detect when the arm is fully raised.ĭirect drive of the arm is possible without any code at all – the EV3 block gives you control over the motors as standard. The elbow sensor is a reflected-light sensor and I’ve found that the L-brick it detects needs a white sticker or similar applied to it to reliably detect it. There are two sensors in the H25 design, one that detects when the shoulder is rotated to a clockwise limit and one which detects the position of the elbow. I’ve been playing with this arm with my students and have attached some code which may or may not be of interest.Ĭompared to the arm that could be built with the NXT (the previous mindstorms) system, this one is rather limited in terms of its functionality. There’s no nice way around the additional Z12 gear, so I’ve not changed that.įor anybody reading this, I’d like to echo Bjoern’s original warning about instructions generated with LDD – they’re quite difficult to follow, as LDD really likes placing parts in mid-air “for later” and assembling structures from the outside in, meaning you have to strip it all apart again so you can do it from the inside out…but it’s free, and there’s nothing else that does the job, so there’s no point complaining 🙂Įnjoy moving small things from one place to another 🙂 I’ve also added a design for an alternative claw, but it’s a bit limited by the restricted part availability of the 31313 set… I’ve added some additional bracing/strengthening to your design to keep the arm more firmly on its drive-shaft and I’ve added in the motor-bracing parts from the original H25 design, as this stiffens up the structure quite nicely. Here’s a link to a slight modification of your design. Thanks for your effort converting the H25 for the 31313 set parts – very helpful.
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